IEC TR 61491:2010

Electrical equipment of industrial machines - Serial data link for real-time communication between controls and drives

IEC/TR 61491:2010 presents an overview and guidance for IEC 61158, IEC 61784-1, IEC 61784-2 and IEC 61800-7 with respect to a real-time serial interface between the control unit and its associated devices, which is utilized to transmit periodic and non periodic data. This interface is intended to apply to industrial machines, such as machine tools, with multiple devices connected via this interface. This interface supports different operation modes. This first edition of the technical report cancels and replaces the second edition of IEC 61491, published in 2002. The changes are primarily to make reference to material that was moved to IEC 61158, IEC 61784 and IEC 61800-7 series of standards.

Equipement électrique des machines industrielles - Liaison des données sérielles pour communications en temps réel entre unités de commande et dispositifs d'entraînement

La CEI/TR 61491:2010 fournit une vue d'ensemble et des lignes directrices pour la série de normes CEI 61158, la CEI 61784-1, la CEI 61784-2 et la série de normes CEI 61800-7 en ce qui concerne l'interface sérielle en temps réel entre l'unité de commande et ses appareils associés, utilisée pour la transmission de données périodiques et non périodiques. Cette interface est destinée à s'appliquer aux machines industrielles, telles que les machines outils, comprenant l'ensemble des appareils raccordés via cette interface. Cette interface est compatible avec différents modes de fonctionnement. Cette première édition du rapport technique annule et remplace la deuxième édition de la CEI 61491 publiée en 2002. Les changements sont principalement liés aux références du matériel qui ont été incorporées dans les séries de normes CEI 61158, CEI 61784 et CEI 61800-7.

General Information

• Status: Withdrawn
• Publication Date: 20-Jan-2010
• Withdrawal Date: 30-Dec-2014
• ICS: 33.160.40 - Video systems
• ICS: 33.200 - Telecontrol. Telemetering
• ICS: 35.240.50 - IT applications in industry
• Technical Committee: SC 22G - Adjustable speed electric power drive systems (PDS)
• Drafting Committee: WG 10 - TC 22/SC 22G/WG 10
• Current Stage: WPUB - Publication withdrawn
• Completion Date: 31-Dec-2014

Relations

• Replaces: IEC 61491:2002 - Electrical equipment of industrial machines - Serial data link for real-time communication between controls and drives
• Effective Date: 05-Sep-2023

Standards Content (Sample)

− 2 − 1491  CEI:1995
SOMMAIRE
Pages
AVANT-PROPOS. 10

INTRODUCTION. 12

Articles
1 Domaine d'application . 14

2 Références normatives. 14

3 Définitions et abréviations . 14

3.1 Définitions. 14
3.2 Abréviations. 20
4 Prescriptions générales . 32
4.1 Présentation générale. 32
4.2 Description générale du système.34
4.3 Transmission de données . 46
4.4 Initialisation. 56
4.5 Messages d'erreurs et d'état . 60
5 Moyen de transfert et couche physique. 60
5.1 Généralités. 60
5.2 Topologie. 60
5.3 Signaux optiques sur la ligne de transmission . 64
5.4 Caractéristiques de durée de la transmission binaire . 70
5.5 Codage binaire. 84
5.6 Messages et caractères de remplissage. 86
5.7 Connexion à la fibre optique. 88
6 Transfert de données et couches de liaison de données. 102
6.1 Généralités. 102
6.2 Structure de messages . 102
6.3 Synchronisation de la transmission (cycles de transmission) . 108
7 Structure de protocole . 118
7.1 Généralités. 118
7.2 Structure générale de protocole. 118
7.3 Echange de données cycliques (CP ) . 124
7.4 Echange non cyclique de données (voie de service). 148
8 Contenu des données . 172
8.1 Types de données et structure des données . 172
8.2 Paramètres généraux. 188

8.3 Définition du contenu des messages . 196
8.4 Modes de fonctionnement du dispositif d'entraînement . 204
8.5 Données d'exploitation standard . 204
8.6 Changement d'échelle relatif aux données d'exploitation . 210
8.7 Paramètres du dispositif d'entraînement. 226
8.8 Systèmes mécaniques. 236
9 Initialisation de l'interface SYSTEME . 240
9.1 Généralités. 240
9.2 Phase de transmission 0 (CP ). 240
9.3 Phase de transmission 1 (CP ). 242
9.4 Phase de transmission 2 (CP ). 246
9.5 Phase de transmission 3 (CP ). 248
9.6 Phase de transmission 4 (CP ) (Fin d'initialisation). 250
1491  IEC:1995 – 3 –
CONTENTS
Page
FOREWORD. 11

INTRODUCTION. 13

Clause
1 Scope . 15

2 Normative references . 15

3 Definitions and abbreviations. 15
3.1 Definitions . 15
3.2 Abbreviations. 21
4 General requirements . 33
4.1 Overview .33
4.2 System overview. 35
4.3 Data transmission . 47
4.4 Initialization . 57
4.5 Error and status messages. 61
5 Transfer medium and physical layer. 61
5.1 General . 61
5.2 Topology. 61
5.3 Optical signals on the transmission line . 65
5.4 Time performance of bit transmission . 71
5.5 Bit coding . 85
5.6 Telegrams and fill characters . 87
5.7 Connection to the optical fiber . 89
6 Data transfer and data link layer . 103
6.1 General . 103
6.2 Telegram structure . 103
6.3 Timing of the transmission (communication cycles) . 109
7 Protocol structure . 119
7.1 General . 119
7.2 General protocol structure . 119
7.3 Cyclic data exchange (CP ) . 125
7.4 Non-cyclic data exchange (service channel) . 149
8 Data contents. 173

8.1 Data types and data structure. 173
8.2 General parameters . 189
8.3 Definition of telegram contents . 197
8.4 Drive operation modes . 205
8.5 Standard operation data . 205
8.6 Scaling of operation data. 211
8.7 Drive parameters . 227
8.8 Mechanics . 239
9 Initialization of the SYSTEM interface . 241
9.1 General . 241
9.2 Communication phase 0 (CP ) . 241
9.3 Communication phase 1 (CP ) . 243
9.4 Communication phase 2 (CP ) . 247
9.5 Communication phase 3 (CP ) . 249
9.6 Communication phase 4 (CP ) – end of initialization . 251
− 4 − 1491  CEI:1995
Articles Pages
10 Traitement des erreurs . 252

10.1 Fonctions de sécurité des dispositifs d'entraînement. 252

10.2 Défaillance des messages . 254

10.3 Changement de phases de transmission . 256

10.4 Surveillance (présentation générale). 258
10.5 Réaction au délai d'attente de protocole de transport. 260
10.6 Réaction aux messages d'erreur dans la voie de service . 260

10.7 Compteurs d'erreurs dans les liaisons principale et secondaire . 262

11 Séquences fonctionnelles. 266

11.1 Généralités. 266

11.2 Affectation des bits en temps réel . 266

11.3 Retour à la position de référence . 270
11.4 Mesures. 284
11.5 Commande de procédure «positionnement de broche» . 284
11.6 Sélection d'ensembles de paramètres et du rapport d'engrenages . 290
11.7 Fonctions de démarrage/arrêt . 292
11.8 Commande de procédure d’axe de parc . 296
11.9 Commande de procédure d’arrêt complet du dispositif d’entraînement. 298
...

IEC/TR 61491 ®
Edition 1.0 2010-01
TECHNICAL
REPORT
RAPPORT
TECHNIQUE
Electrical equipment of industrial machines – Serial data link for real-time
communication between controls and drives
Équipement électrique des machines industrielles – Liaison des données
sérielles pour communications en temps réel entre unités de commande et
dispositifs d’entraînement
IEC/TR 61491:2010
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IEC/TR 61491 ®
Edition 1.0 2010-01
TECHNICAL
REPORT
RAPPORT
TECHNIQUE
Electrical equipment of industrial machines – Serial data link for real-time
communication between controls and drives

Équipement électrique des machines industrielles – Liaison des données
sérielles pour communications en temps réel entre unités de commande et
dispositifs d’entraînement
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 33.200; 35.240.50 ISBN 2-8318-1075-6
– 2 – TR 61491  IEC:2010
CONTENTS
FOREWORD .3

INTRODUCTION .5

1 Scope .6

2 Normative references .6

3 Terms, definitions, symbols and abbreviated terms .7

3.1 Terms and definitions .7

3.2 Symbols and abbreviated terms .7

4 Structure of the communication specification .7
5 Structure of the application specification .8
Bibliography .9

Table 1 – Overview on communication profiles of CPF 16 .8

TR 61491  IEC:2010 – 3 –
INTERNATIONAL ELECTROTECHNICAL COMMISSION

____________
ELECTRICAL EQUIPMENT OF INDUSTRIAL MACHINES –

SERIAL DATA LINK FOR REAL-TIME COMMUNICATION

BETWEEN CONTROLS AND DRIVES
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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The main task of IEC technical committees is to prepare International Standards. However, a

technical committee may propose the publication of a technical report when it has collected
data of a different kind from that which is normally published as an International Standard, for
example "state of the art".
IEC 61491, which is a technical report, has been prepared by subcommittee 22G: Adjustable
speed electric drive systems incorporating semiconductor power converters, of IEC technical
committee 22: Power electronic systems and equipment.
This first edition of the technical report cancels and replaces the second edition of IEC 61491,
published in 2002. The changes are primarily to make reference to material that was moved to
IEC 61158, IEC 61784 and IEC 61800-7 series of standards.

– 4 – TR 61491  IEC:2010
The text of this technical report is based on the following documents:

Enquiry draft Report on voting

22G/199/DTR 22G/209/RVC
Full information on the voting for the approval of this technical report 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.

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.
TR 61491  IEC:2010 – 5 –
INTRODUCTION
This technical report replaces the second edition of IEC 61491:2002 which has been

separated into:
a) communication parts, included in the IEC 61158 and IEC 61784 series (prepared by

subcommittee 65C: Industrial networks, of IEC technical committee 65: Industrial process

measurement, control and automation);

b) the application part, included in the IEC 61800-7 series (prepared by subcommittee 22G:

Adjustable speed electric drive systems incorporating semiconductor power converters, of

IEC technical committee 22: Power electronic systems and equipment.)

The communication related content of the second edition of IEC 61491:2002 and technical
updates are specified by communication profile family 16 (CPF 16) in IEC 61784-1 and
IEC 61784-2. The application related content of the second edition of IEC 61491:2002 (drive
profile) and technical updates are specified in IEC 61800-7.

– 6 – TR 61491  IEC:2010
ELECTRICAL EQUIPMENT OF INDUSTRIAL MACHINES –

SERIAL DATA LINK FOR REAL-TIME COMMUNICATION

BETWEEN CONTROLS AND DRIVES
1 Scope
This technical report presents an overview and guidance for IEC 61158, IEC 61784-1,

IEC 61784-2 and IEC 61800-7 with respect to a real-time serial interface between the control
unit and its associated devices, which is utilized to transmit periodic and non periodic data.
This interface is intended to apply to industrial machines, such as machine tools, with multiple
devices connected via this interface. This interface supports different operation modes.
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 (all parts), Industrial communication networks – Fieldbus specifications
IEC 61158-1, Industrial communication networks – Fieldbus specifications – Part 1: Overview
and guidance for the IEC 61158 and IEC 61784 series
IEC 61158-2, Industrial communication networks – Fieldbus specifications – Part 2: Physical
layer specification and service definition
IEC 61158-3-16, Industrial communication networks – Fieldbus specifications – Part 3-16:
Data-link layer service definition – Type 16 elements
IEC 61158-3-19, Industrial communication networks – Fieldbus specifications – Part 3-19:
Data-link layer service definition – Type 19 elements
IEC 61158-4-16, Industrial communication networks – Fieldbus
...