IEC 61800-7-304:2007
(Main)Adjustable speed electrical power drive systems - Part 7-304: Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to network technologies
Adjustable speed electrical power drive systems - Part 7-304: Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to network technologies
IEC 61800-7-304:2007 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 4 (SERCOS) specified in IEC 61800-7-204 onto different network technologies: SERCOS I / II, SERCOS III, EtherCAT.
Entraînements électriques de puissance à vitesse variable - Partie 7-304: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Mise en correspondance du profil de type 4 avec les technologies de réseaux
La CEI 61800-7-304:2007 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 4 (SERCOS), décrit dans la CEI 61800-7-204, avec les différentes technologies de réseaux: SERCOS I / II, SERCOS III, EtherCAT.
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IEC 61800-7-304
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-304: Generic interface and use of profiles for power drive systems –
Mapping of profile type 4 to network technologies
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IEC 61800-7-304
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-304: Generic interface and use of profiles for power drive systems –
Mapping of profile type 4 to network technologies
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XC
ICS 29.200; 35.100.05 ISBN 2-8318-9383-6
– 2 – 61800-7-304 © IEC:2007(E)
CONTENTS
FOREWORD.6
INTRODUCTION.8
1 Scope.11
2 Normative references .11
3 Terms, definitions and abbreviated terms .12
3.1 Terms and definitions .12
3.2 Abbreviated terms .17
4 General .17
5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II) .18
5.1 Reference to communication standards .18
5.2 Overview .18
5.3 Physical layer and topology.20
5.4 Synchronisation mechanism .21
5.4.1 General .21
5.4.2 Handling of command and feedback values .22
5.4.3 Position loop with fine interpolator .23
5.5 Telegram contents.24
5.5.1 General .24
5.5.2 Data block .25
5.5.3 Communication function group telegrams .25
5.5.4 Standard telegrams .26
5.5.5 Application telegrams .28
5.6 Non-cyclic data transfer.29
5.7 Real-time bits .29
5.7.1 Functions of Real time bits .29
5.7.2 Allocation of real-time bits .30
5.7.3 Possible cases .31
5.8 Signal control word and signal status word .33
5.9 Data container.34
5.10 Drive shutdown functions .36
5.11 Communication classes.37
5.11.1 General .37
5.11.2 Communication class A .38
5.11.3 Communication class B (Extended Functions) .41
5.11.4 Communication class C (Additional Functions) .42
5.11.5 Communication cycle time granularity.43
6 Mapping to CP16/3 (SERCOS III) .43
6.1 Reference to communication standards .43
6.2 Overview .43
6.3 Physical layer and topology.45
6.4 Synchronisation mechanism and telegram content .46
6.5 Non-cyclic data transfer.47
6.6 Real-time bits .47
6.7 Signal control word and signal status word .47
6.8 Data container.47
61800-7-304 © IEC:2007(E) – 3 –
6.9 Drive shutdown functions .47
6.10 Communication classes.48
7 Mapping to EtherCAT .48
7.1 Reference to communication standards .48
7.2 Overview .48
7.3 SoE Synchronisation .49
7.3.1 General .49
7.3.2 CP16 Phase 0-2 .50
7.3.3 CP16 Phase 3-4 .50
7.4 SoE Application Layer Management .50
7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine .50
7.4.2 Multiple Drives.51
7.4.3 IDN Usage.51
7.5 SoE Process Data Mapping .52
7.6 SoE Service Channel Services .55
7.6.1 Overview .55
7.6.2 SSC Read .55
7.6.3 SSC Write .60
7.6.4 SSC Procedure Commands .64
7.6.5 SSC Slave Info .66
7.7 SoE Coding General.67
7.8 SoE Protocol Data Unit Coding.69
7.8.1 SSC Read .69
7.8.2 SSC Write .72
7.8.3 Notify SSC Command Execution Request.76
7.8.4 SSC Slave Info .77
Bibliography.79
Figure 1 – Structure of IEC 61800-7.10
Figure 2 – Topology.21
Figure 3 – Validity of command values and feedback acquisition time in the PDSs .22
Figure 4 – Synchronisation of cycle times .23
Figure 5 – Synchronisation of the control loops and the fine interpolator.23
Figure 6 – AT configuration (example) .29
Figure 7 – Function of the real-time bits.30
Figure 8 – Allocation of IDN ≠ 0 to the real-time bits .31
Figure 9 – Allocation of IDN = 0 to the real-time bits .32
Figure 10 – Allocation of IDN ≠ 0 to the real-time bits .33
Figure 11 – Configuration example of signal status word .34
Figure 12 – Data container configuration without acknowledge (slave).35
Figure 13 – Data container configuration with acknowledge (slave).36
Figure 14 – Structure of Communication classes .37
Figure 15 – Topology .45
Figure 16 – Telegram sequence.46
Figure 17 – General communication cycle.47
– 4 – 61800-7-304 © IEC:2007(E)
Figure 18 – ESM and IEC 61158-4-16 State Machine .51
Figure 19 – Successful SSC Read sequence .56
Figure 20 – Unsuccessful SSC Read sequence .56
Figure 21 – Successful SSC Fragmented Read sequence.57
Figure 22 – Successful SSC Write sequence .60
Figure 23 – Unsuccessful SSC Write sequence .61
Figure 24 – Successful SSC Fragmented Write sequence.61
Figure 25 – Successful SSC Procedure Command sequence.64
Figure 26 – Aborted SSC Procedure Command sequence .65
Figure 27 – Slave Info sequence.66
Table 1 – CP16/1 and CP16/2 feature summary.18
Table 2 – Number of PDSs per network (examples) .19
Table 3 – Communication Profile Interoperability within a network .20
Table 4 – Typical operation data for cyclic transmission.24
Table 5 – Typical data for non-cyclic transmission .25
Table 6 – IDN for choice and parameterisation of telegrams .26
Table 7 – Structure of standard telegram-0 .26
Table 8 – Structure of standard telegram-1 .26
Table 9 – Structure of standard telegram-2 .26
Table 10 – Structure of standard telegram-3 .27
Table 11 – Structure of standard telegram-4 .27
Table 12 – Structure of standard telegram-5 .27
Table 13 – Structure of standard telegram-6 .28
Table 14 – IDN for configuration of MDT .28
Table 15 – IDN for configuration of AT .28
Table 16 – IDN for real-time bits .29
Table 17 – Real-time bits assignment IDNs.30
Table 18 – IDN for configuring control and status words .33
Table 19 – Data containers IDN .34
Table 20 – Ring configuration – Timing.38
Table 21 – Ring configuration – Telegram configuration.39
Table 22 – Ring configuration – Phase run-up .39
Table 23 – Service channel protocol .39
Table 24 – Information & diagnostics .40
Table 25 – Communication class A settings .40
Table 26 – Ring configuration – Telegram configuration.41
Table 27 – Information & diagnostics .41
Table 28 – Real-time control bits .41
Table 29 – Real-time status bits.42
Table 30 – Communication class B settings .42
Table 31 – CP16/3 features summary .44
Table 32 – Number of PDSs per network (examples) .45
61800-7-304 © IEC:2007(E) – 5 –
Table 33 – Synchronisation performance classes.47
Table 34 – EtherCAT feature summary .49
Table 35 – Number of PDSs per network (examples) .49
Table 36 – Obsolete IDNs.52
Table 37 – Changed IDNs.52
Table 38 – Status word of drive .53
Table 39 – Control word for drive.54
Table 40 – Mapping of SSC services to EtherCAT services.55
Table 41 – SSC Read Service.58
Table 42 – Read SSC Fragment Service.59
Table 43 – SSC Write Service.62
Table 44 – Write SSC Fragment Service.63
Table 45 – Notify SSC Command Execution Service.65
Table 46 – SSC Slave Info Service .67
Table 47 – SoE Mailbox Protocol .68
Table 48 – SSC Read Request .69
Table 49 – SSC Read Response.70
Table 50 – Read SSC Fragment Request.72
Table 51 – SSC Write Request .73
Table 52 – SSC Write Response.74
Table 53 – Write SSC Fragment Request.76
Table 54 – Notify SSC Command Execution Request.77
Table 55 – Slave Info Request .78
– 6 – 61800-7-304 © IEC:2007(E)
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-304: Generic interface and use
of profiles for power drive systems –
Mapping of profile type 4 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
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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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patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
The International Standard IEC 61800-7-304 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.
61800-7-304 © IEC:2007(E) – 7 –
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.
– 8 – 61800-7-304 © 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.
61800-7-304 © IEC:2007(E) – 9 –
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 and 4 are specified in IEC 61800-7-201, IEC 61800-7-202,
IEC 61800-7-203 and IEC 61800-7-204.
TM
) is mapped to the
This part of IEC 61800-7 specifies how the profile type 4 (SERCOS
TM .
network technologies SERCOS I, II, III and EtherCAT
IEC 61800-7-301, IEC 61800-7-302 and IEC 61800-7-303 specify how the profile types 1, 2
TM
and 3 are mapped to different network technologies (such as CANopen , EtherCAT ,
TM TM TM TM
7 8 9 10 11
Ethernet Powerlink , DeviceNet , ControlNet , EtherNet/IP , PROFIBUS and
PROFINET ).
—————————
CiA 402 is a trade name of CAN in Automation, e.V. This information is given for the convenience of users of
this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of
its products. Compliance to this profile does not require use of the trade name CiA 402.
CIP Motion™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name CIP
Motion™. Use of the trade name CIP Motion™ requires permission of Open DeviceNet Vendor Association, Inc.
PROFIdrive is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIdrive. Use of the trade
name PROFIdrive requires permission of PROFIBUS International.
SERCOS™ and SERCOS interface™ are trade names of SERCOS International e.V. This information is given
for the convenience of users of this International Standard and does not constitute an endorsement by IEC of
the trade name holder or any of its products. Compliance to this profile does not require use of the trade names
SERCOS or SERCOS interface. Use of the trade names SERCOS and SERCOS interface requires permission
of the trade name holder.
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.
CANopen is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
Ethernet Powerlink™ is a trade name of B&R, control of trade name use is given to the non profit organization
EPSG. This information is given for the convenience of users of this International Standard and does not
constitute an endorsement by IEC of the trademark holder or any of its products. Compliance to this profile
does not require use of the trade name Ethernet Powerlink™. Use of the trade name Ethernet Powerlink™
requires permission of the trade name holder.
DeviceNet™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name
DeviceNet™. Use of the trade name DeviceNet™ requires permission of Open DeviceNet Vendor Association,
Inc.
ControlNet™ is a trade name of ControlNet International, Ltd. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trademark holder or
any of its products. Compliance to this profile does not require use of the trade name ControlNet™. Use of the
trade name ControlNet™ requires permission of ControlNet International, Ltd.
EtherNet/IP™ is a trade name of ControlNet International, Ltd. and Open DeviceNet Vendor Association, Inc.
This information is given for the convenience of users of this International Standard and does not constitute an
endorsement by IEC of the trademark holder or any of its products. Compliance to this profile does not require
use of the trade name EtherNet/IP™. Use of the trade name EtherNet/IP™ requires permission of either
ControlNet International, Ltd. or Open DeviceNet Vendor Association, Inc.
PROFIBUS is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIBUS. Use of the trade
name PROFIBUS requires permission of PROFIBUS International.
PROFINET is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFINET. Use of the trade
name PROFINET requires permission of PROFIBUS International.
– 10 – 61800-7-304 © IEC:2007(E)
IEC 61800 series IEC/TR 62390
Adjustable speed electrical power drive Device profile guideline
IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 – Interface definition
Generic PDS interface specification
Annex A Annex B Annex C Annex D
Mapping of Mapping of Mapping of Mapping of
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-200 – Profile specifications
IEC 61800-7-201 IEC 61800-7-202 IEC 61800-7-203 IEC 61800-7-204
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CiP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-300 – Mapping of profiles to network technologies
IEC 61800-7-301 IEC 61800-7-302 IEC 61800-7-303 IEC 61800-7-304
Mapping of profile Mapping of profile Mapping of profile Mapping of profile
type 1 to: type 2 to: type 3 to: type 4 to:
• CANopen • DeviceNet • PROFIBUS • SERCOS I + II
• EtherCAT • ControlNet • PROFINET • SERCOS III
• ETHERNET • EtherNet/IP • EtherCAT
Powerlink
Figure 1 – Structure of IEC 61800-7
61800-7-304 © IEC:2007(E) – 11 –
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-304: Generic interface and use
of profiles for power drive systems –
Mapping of profile type 4 to network technologies
1 Scope
IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing
communication systems by use of a generic interface model.
The functions specified in this part of IEC 61800-7 are not intended to ensure functional
safety. This requires additional measures according to the relevant standards, agreements
and laws.
This part of IEC 61800-7 specifies the mapping of the profile type 4 (SERCOS) specified in
IEC 61800-7-204 onto different network technologies.
– SERCOS I / II, see Clause 5,
– SERCOS III, see Clause 6,
– EtherCAT, see Clause 7.
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 61158-2, Industrial communication networks – Fieldbus specifications – Part 2: Physical
layer specification and service definition
IEC 61158-4-16, Industrial communication networks – Fieldbus specifications – Part 4-16:
Data-link layer protocol specification – Type 16 elements
IEC 61158-5-16, Industrial communication networks – Fieldbus specifications – Part 5-16:
Application layer service definition – Type 16 elements
IEC 61158-6-16, Industrial communication networks – Fieldbus specifications – Part 6-16:
Application layer protocol specification – Type 16 elements
IEC 61491:2002, Electrical equipment of industrial machines – Serial data link for real-time
communication between controls and drives
IEC 61784-1, Industrial communication networks – Profiles – Part 1: Fieldbus profiles
IEC 61784-2, Industrial communication networks – Profiles – Part 2: Additional fieldbus
profiles for real-time networks based on ISO/IEC 8802-3
IEC 61800-7 (all parts), Adjustable speed electrical power drive systems – Generic interface
and use of profiles for power drive systems
– 12 – 61800-7-304 © IEC:2007(E)
IEC 61800-7-204, Adjustable speed electrical power drive systems – Part 7-204: Generic
interface and use of profiles for power drive systems – Profile type 4 specification
ISO/IEC 8802-3:2000, Information technology -Telecommunications and information exchange
between systems - Local and metropolitan area networks – Specific requirements – Part 3:
Carrier sense multiple access with collision detection (CSMA/CD) access method and
physical layer specifications
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1.1
Acknowledge Telegram
AT
telegram, in which each slave inserts its data
3.1.2
algorithm
completely determined finite sequence of operations by which the values of the output data
can be calculated from the values of the input data
[IEV 351-21-37]
3.1.3
application
software functional element specific to the solution of a problem in industrial-process
measurement and control
NOTE An application may be distributed among resources, and may communicate with other applications.
[IEC/TR 62390:2005, 3.1.2, modified]
3.1.4
attribute
property or characteristic of an entity
[IEC/TR 62390:2005, 3.1.3]
3.1.5
class
description of a set of objects that share the same attributes, operations, methods,
relationships, and semantics
[ISO/IEC 19501, modified]
3.1.6
commands
set of commands from the application control program to the PDS to control the behaviour of
the PDS or functional elements of the PDS
NOTE 1 The behaviour is reflected by states or operating modes.
NOTE 2 The different commands may be represented by one bit each.
3.1.7
communication cycle
accumulation of all telegrams between two master synchronisation telegrams
61800-7-304 © IEC:2007(E) – 13 –
3.1.8
control
purposeful action on or in a process to meet specified objectives
[IEV 351-21-29]
3.1.9
control device
physical unit that contains – in a module/subassembly or device – an application program to
control the PDS
3.1.10
control unit
control device
3.1.11
control word
two adjacent bytes inside the master data telegram containing commands for the addressed
PDS
3.1.12
cycle time
time span between two consecutive cyclically recurring events
3.1.13
cyclic communication
the periodic exchange of telegrams
3.1.14
cyclic data
the part of the telegram which does not change its meaning during cyclic operation of the
interface
3.1.15
cyclic operation
devices in the communication network are addressed and queried one after the other at fixed,
constant time intervals
3.1.16
data exchange
demand dependent, non cyclic transmission of information after a request was sent by the
master (service channel)
3.1.17
data type
set of values together with a set of permitted operations
[ISO/IEC 2382-15:1999, 15.04.01, modified]
– 14 – 61800-7-304 © IEC:2007(E)
3.1.18
device
field device
networked independent physical entity of an industrial automation system capable of
performing specified functions in a particular context and delimited by its interfaces
[IEC 61499-1:2005, modified]
entity that performs control, actuating and/or sensing functions and interfaces to other such
entities within an automation system
[ISO 15745-1:2003]
3.1.19
device profile
representation of a device in terms of its parameters, parameter assemblies and behaviour
according to a device model that describes the device’s data and behaviour as viewed
through a network
NOTE This is a definition from IEC/TS 61915 which is extended by the addition of the device functional structure.
[IEC/TR 62390:2005, 3.1.9, modified]
3.1.20
fibre optic cable
transmission medium for serial data transmission of optical signals
3.1.21
functional element
entity of software or software combined with hardware, capable of accomplishing a specified
function of a device
NOTE 1 A functional element has an interface, associations to other functional elements and functions.
NOTE 2 A functional element can be made out of function block(s), object(s) or parameter list(s).
[IEC/TR 62390:2005, 3.1.12]
3.1.22
identification number
IDN
designation of operating data under which a data block is preserved with its attribute, name,
unit, minimum and maximum input values, and the data
3.1.23
input data
data transferred from an external source into a device, resource or functional element
[IEC/TR 62390:2005, 3.1.14]
3.1.24
interface
shared boundary between two entities defined by functional characteristics, signal
characteristics, or other characteristics as appropriate
[IEV 351-21-35, modified]
3.1.25
line
network topology in which the transmission medium is routed from station to station in the
form of a line. The information is transmitted in one direction from the master down to the last
61800-7-304 © IEC:2007(E) – 15 –
slave in the line, and then flows back to the master via all the slaves in the reverse order
(CP16/3, CP12)
3.1.26
master
node, which assigns the other nodes the right to transmit
3.1.27
Master Data Telegram
MDT
telegram, in which the master inserts its data
3.1.28
Master Synchronisation Telegram
MST
telegram transmitted by the master, which sends a time synchronisation signal to the slave(s)
in a single network
3.1.29
model
mathematical or physical representation of a system or a process, based with sufficient
precision upon known laws, identification or specified suppositions
[IEV 351-21-36]
3.1.30
non-cyclic transmission
non-periodic exchange of data at the request of the master
3.1.31
operating cycle
period of the control loop within the PDS or the control unit
3.1.32
operating mode
characterisation of the way and the extent to which the human operator intervenes in the
control equipment
[IEV 351-31-01]
3.1.33
output data
data originating in a device, resource or functional element and transferre
...
IEC 61800-7-304 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-304: Generic interface and use of profiles for power drive systems –
Mapping of profile type 4 to network technologies
Entraînements électriques de puissance à vitesse variable –
Partie 7-304: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Mise en correspondance du profil de type 4 avec les
technologies de réseaux
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IEC 61800-7-304 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-304: Generic interface and use of profiles for power drive systems –
Mapping of profile type 4 to network technologies
Entraînements électriques de puissance à vitesse variable –
Partie 7-304: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Mise en correspondance du profil de type 4 avec les
technologies de réseaux
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XC
ICS 29.200; 35.100.05 ISBN 978-2-83220-714-7
– 2 – 61800-7-304 IEC:2007
CONTENTS
FOREWORD . 6
INTRODUCTION . 8
1 Scope . 11
2 Normative references . 11
3 Terms, definitions and abbreviated terms . 12
3.1 Terms and definitions . 12
3.2 Abbreviated terms . 17
4 General . 17
5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II) . 18
5.1 Reference to communication standards . 18
5.2 Overview . 18
5.3 Physical layer and topology . 20
5.4 Synchronisation mechanism . 21
5.4.1 General . 21
5.4.2 Handling of command and feedback values . 22
5.4.3 Position loop with fine interpolator . 23
5.5 Telegram contents . 24
5.5.1 General . 24
5.5.2 Data block . 25
5.5.3 Communication function group telegrams . 25
5.5.4 Standard telegrams . 26
5.5.5 Application telegrams . 28
5.6 Non-cyclic data transfer . 29
5.7 Real-time bits . 29
5.7.1 Functions of Real time bits . 29
5.7.2 Allocation of real-time bits . 30
5.7.3 Possible cases . 31
5.8 Signal control word and signal status word . 33
5.9 Data container . 34
5.10 Drive shutdown functions . 36
5.11 Communication classes . 37
5.11.1 General . 37
5.11.2 Communication class A . 38
5.11.3 Communication class B (Extended Functions) . 41
5.11.4 Communication class C (Additional Functions) . 42
5.11.5 Communication cycle time granularity . 43
6 Mapping to CP16/3 (SERCOS III) . 43
6.1 Reference to communication standards . 43
6.2 Overview . 43
6.3 Physical layer and topology . 45
6.4 Synchronisation mechanism and telegram content . 46
6.5 Non-cyclic data transfer . 47
6.6 Real-time bits . 47
6.7 Signal control word and signal status word . 47
61800-7-304 IEC:2007 – 3 –
6.8 Data container . 47
6.9 Drive shutdown functions . 47
6.10 Communication classes . 48
7 Mapping to EtherCAT . 48
7.1 Reference to communication standards . 48
7.2 Overview . 48
7.3 SoE Synchronisation . 49
7.3.1 General . 49
7.3.2 CP16 Phase 0-2 . 50
7.3.3 CP16 Phase 3-4 . 50
7.4 SoE Application Layer Management . 50
7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine . 50
7.4.2 Multiple Drives . 51
7.4.3 IDN Usage . 51
7.5 SoE Process Data Mapping . 52
7.6 SoE Service Channel Services . 55
7.6.1 Overview . 55
7.6.2 SSC Read . 55
7.6.3 SSC Write . 60
7.6.4 SSC Procedure Commands . 64
7.6.5 SSC Slave Info . 66
7.7 SoE Coding General . 67
7.8 SoE Protocol Data Unit Coding . 69
7.8.1 SSC Read . 69
7.8.2 SSC Write . 72
7.8.3 Notify SSC Command Execution Request . 77
7.8.4 SSC Slave Info . 78
Bibliography . 81
Figure 1 – Structure of IEC 61800-7. 10
Figure 2 – Topology . 21
Figure 3 – Validity of command values and feedback acquisition time in the PDSs . 22
Figure 4 – Synchronisation of cycle times . 23
Figure 5 – Synchronisation of the control loops and the fine interpolator . 23
Figure 6 – AT configuration (example) . 29
Figure 7 – Function of the real-time bits . 30
Figure 8 – Allocation of IDN ≠ 0 to the real-time bits . 31
Figure 9 – Allocation of IDN = 0 to the real-time bits . 32
Figure 10 – Allocation of IDN ≠ 0 to the real-time bits . 33
Figure 11 – Configuration example of signal status word . 34
Figure 12 – Data container configuration without acknowledge (slave) . 35
Figure 13 – Data container configuration with acknowledge (slave) . 36
Figure 14 – Structure of Communication classes . 37
Figure 15 – Topology . 45
Figure 16 – Telegram sequence . 46
– 4 – 61800-7-304 IEC:2007
Figure 17 – General communication cycle . 47
Figure 18 – ESM and IEC 61158-4-16 State Machine . 51
Figure 19 – Successful SSC Read sequence . 56
Figure 20 – Unsuccessful SSC Read sequence . 56
Figure 21 – Successful SSC Fragmented Read sequence . 57
Figure 22 – Successful SSC Write sequence . 60
Figure 23 – Unsuccessful SSC Write sequence . 61
Figure 24 – Successful SSC Fragmented Write sequence . 61
Figure 25 – Successful SSC Procedure Command sequence . 64
Figure 26 – Aborted SSC Procedure Command sequence . 65
Figure 27 – Slave Info sequence . 66
Table 1 – CP16/1 and CP16/2 feature summary . 18
Table 2 – Number of PDSs per network (examples) . 19
Table 3 – Communication Profile Interoperability within a network . 20
Table 4 – Typical operation data for cyclic transmission . 24
Table 5 – Typical data for non-cyclic transmission . 25
Table 6 – IDN for choice and parameterisation of telegrams . 26
Table 7 – Structure of standard telegram-0 . 26
Table 8 – Structure of standard telegram-1 . 26
Table 9 – Structure of standard telegram-2 . 26
Table 10 – Structure of standard telegram-3 . 27
Table 11 – Structure of standard telegram-4 . 27
Table 12 – Structure of standard telegram-5 . 27
Table 13 – Structure of standard telegram-6 . 28
Table 14 – IDN for configuration of MDT . 28
Table 15 – IDN for configuration of AT . 28
Table 16 – IDN for real-time bits . 29
Table 17 – Real-time bits assignment IDNs . 30
Table 18 – IDN for configuring control and status words . 33
Table 19 – Data containers IDN . 34
Table 20 – Ring configuration – Timing . 38
Table 21 – Ring configuration – Telegram configuration . 39
Table 22 – Ring configuration – Phase run-up . 39
Table 23 – Service channel protocol . 39
Table 24 – Information & diagnostics . 40
Table 25 – Communication class A settings . 40
Table 26 – Ring configuration – Telegram configuration . 41
Table 27 – Information & diagnostics . 41
Table 28 – Real-time control bits . 41
Table 29 – Real-time status bits . 42
Table 30 – Communication class B settings . 42
Table 31 – CP16/3 features summary . 44
61800-7-304 IEC:2007 – 5 –
Table 32 – Number of PDSs per network (examples) . 45
Table 33 – Synchronisation performance classes . 47
Table 34 – EtherCAT feature summary . 49
Table 35 – Number of PDSs per network (examples) . 49
Table 36 – Obsolete IDNs . 52
Table 37 – Changed IDNs . 52
Table 38 – Status word of drive . 53
Table 39 – Control word for drive . 54
Table 40 – Mapping of SSC services to EtherCAT services. 55
Table 41 – SSC Read Service . 58
Table 42 – Read SSC Fragment Service . 59
Table 43 – SSC Write Service . 62
Table 44 – Write SSC Fragment Service . 63
Table 45 – Notify SSC Command Execution Service . 65
Table 46 – SSC Slave Info Service . 67
Table 47 – SoE Mailbox Protocol . 68
Table 48 – SSC Read Request . 69
Table 49 – SSC Read Response . 70
Table 50 – Read SSC Fragment Request . 72
Table 51 – SSC Write Request . 74
Table 52 – SSC Write Response . 75
Table 53 – Write SSC Fragment Request . 77
Table 54 – Notify SSC Command Execution Request . 78
Table 55 – Slave Info Request . 79
– 6 – 61800-7-304 IEC:2007
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-304: Generic interface and use
of profiles for power drive systems –
Mapping of profile type 4 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,
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2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
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6) All users should ensure that they have the latest edition of this publication.
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of
patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
The International Standard IEC 61800-7-304 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.
61800-7-304 IEC:2007 – 7 –
The French version of this standard has not been voted upon.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
A list of all parts of the IEC 61800 series, under the general title Adjustable speed electrical
power drive systems, can be found on the IEC website.
The committee has decided that the contents of this publication will remain unchanged until
the maintenance result date indicated on the IEC web site under "http://webstore.iec.ch" in
the data related to the specific publication. At this date, the publication will be
• reconfirmed;
• withdrawn;
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
– 8 – 61800-7-304 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.
61800-7-304 IEC:2007 – 9 –
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 and 4 are specified in IEC 61800-7-201, IEC 61800-7-202,
IEC 61800-7-203 and IEC 61800-7-204.
TM
This part of IEC 61800-7 specifies how the profile type 4 (SERCOS ) is mapped to the
TM .
network technologies SERCOS I, II, III and EtherCAT
IEC 61800-7-301, IEC 61800-7-302 and IEC 61800-7-303 specify how the profile types 1, 2
TM
and 3 are mapped to different network technologies (such as CANopen , EtherCAT ,
TM TM TM TM
7 8 9 10 11
Ethernet Powerlink , DeviceNet , ControlNet , EtherNet/IP , PROFIBUS and
).
PROFINET
—————————
CiA 402 is a trade name of CAN in Automation, e.V. This information is given for the convenience of users of
this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of
its products. Compliance to this profile does not require use of the trade name CiA 402.
CIP Motion™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name CIP
Motion™. Use of the trade name CIP Motion™ requires permission of Open DeviceNet Vendor Association, Inc.
PROFIdrive is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIdrive. Use of the trade
name PROFIdrive requires permission of PROFIBUS International.
SERCOS™ and SERCOS interface™ are trade names of SERCOS International e.V. This information is given
for the convenience of users of this International Standard and does not constitute an endorsement by IEC of
the trade name holder or any of its products. Compliance to this profile does not require use of the trade names
SERCOS or SERCOS interface. Use of the trade names SERCOS and SERCOS interface requires permission
of the trade name holder.
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.
CANopen is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
Ethernet Powerlink™ is a trade name of B&R, control of trade name use is given to the non profit organization
EPSG. This information is given for the convenience of users of this International Standard and does not
constitute an endorsement by IEC of the trademark holder or any of its products. Compliance to this profile
does not require use of the trade name Ethernet Powerlink™. Use of the trade name Ethernet Powerlink™
requires permission of the trade name holder.
DeviceNet™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name
DeviceNet™. Use of the trade name DeviceNet™ requires permission of Open DeviceNet Vendor Association,
Inc.
ControlNet™ is a trade name of ControlNet International, Ltd. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trademark holder or
any of its products. Compliance to this profile does not require use of the trade name ControlNet™. Use of the
trade name ControlNet™ requires permission of ControlNet International, Ltd.
EtherNet/IP™ is a trade name of ControlNet International, Ltd. and Open DeviceNet Vendor Association, Inc.
This information is given for the convenience of users of this International Standard and does not constitute an
endorsement by IEC of the trademark holder or any of its products. Compliance to this profile does not require
use of the trade name EtherNet/IP™. Use of the trade name EtherNet/IP™ requires permission of either
ControlNet International, Ltd. or Open DeviceNet Vendor Association, Inc.
PROFIBUS is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIBUS. Use of the trade
name PROFIBUS requires permission of PROFIBUS International.
PROFINET is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFINET. Use of the trade
name PROFINET requires permission of PROFIBUS International.
– 10 – 61800-7-304 IEC:2007
IEC 61800 series IEC/TR 62390
Adjustable speed electrical power drive Device profile guideline
IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 – Interface definition
Generic PDS interface specification
Annex A Annex B Annex C Annex D
Mapping of Mapping of Mapping of Mapping of
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-200 – Profile specifications
IEC 61800-7-201 IEC 61800-7-202 IEC 61800-7-203 IEC 61800-7-204
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CiP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-300 – Mapping of profiles to network technologies
IEC 61800-7-301 IEC 61800-7-302 IEC 61800-7-303 IEC 61800-7-304
Mapping of profile Mapping of profile Mapping of profile Mapping of profile
type 1 to: type 2 to: type 3 to: type 4 to:
• CANopen • DeviceNet • PROFIBUS • SERCOS I + II
• EtherCAT • ControlNet • PROFINET • SERCOS III
• ETHERNET • EtherNet/IP • EtherCAT
Powerlink
Figure 1 – Structure of IEC 61800-7
61800-7-304 IEC:2007 – 11 –
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-304: Generic interface and use
of profiles for power drive systems –
Mapping of profile type 4 to network technologies
1 Scope
IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing
communication systems by use of a generic interface model.
The functions specified in this part of IEC 61800-7 are not intended to ensure functional
safety. This requires additional measures according to the relevant standards, agreements
and laws.
This part of IEC 61800-7 specifies the mapping of the profile type 4 (SERCOS) specified in
IEC 61800-7-204 onto different network technologies.
– SERCOS I / II, see Clause 5,
– SERCOS III, see Clause 6,
– EtherCAT, see Clause 7.
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 61158-2, Industrial communication networks – Fieldbus specifications – Part 2: Physical
layer specification and service definition
IEC 61158-4-16, Industrial communication networks – Fieldbus specifications – Part 4-16:
Data-link layer protocol specification – Type 16 elements
IEC 61158-5-16, Industrial communication networks – Fieldbus specifications – Part 5-16:
Application layer service definition – Type 16 elements
IEC 61158-6-16, Industrial communication networks – Fieldbus specifications – Part 6-16:
Application layer protocol specification – Type 16 elements
IEC 61491:2002, Electrical equipment of industrial machines – Serial data link for real-time
communication between controls and drives
IEC 61784-1, Industrial communication networks – Profiles – Part 1: Fieldbus profiles
IEC 61784-2, Industrial communication networks – Profiles – Part 2: Additional fieldbus
profiles for real-time networks based on ISO/IEC 8802-3
IEC 61800-7 (all parts), Adjustable speed electrical power drive systems – Generic interface
and use of profiles for power drive systems
– 12 – 61800-7-304 IEC:2007
IEC 61800-7-204, Adjustable speed electrical power drive systems – Part 7-204: Generic
interface and use of profiles for power drive systems – Profile type 4 specification
ISO/IEC 8802-3:2000, Information technology -Telecommunications and information exchange
between systems - Local and metropolitan area networks – Specific requirements – Part 3:
Carrier sense multiple access with collision detection (CSMA/CD) access method and
physical layer specifications
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1.1
Acknowledge Telegram
AT
telegram, in which each slave inserts its data
3.1.2
algorithm
completely determined finite sequence of operations by which the values of the output data
can be calculated from the values of the input data
[IEV 351-21-37]
3.1.3
application
software functional element specific to the solution of a problem in industrial-process
measurement and control
NOTE An application may be distributed among resources, and may communicate with other applications.
[IEC/TR 62390:2005, 3.1.2, modified]
3.1.4
attribute
property or characteristic of an entity
[IEC/TR 62390:2005, 3.1.3]
3.1.5
class
description of a set of objects that share the same attributes, operations, methods,
relationships, and semantics
[ISO/IEC 19501, modified]
3.1.6
commands
set of commands from the application control program to the PDS to control the behaviour of
the PDS or functional elements of the PDS
NOTE 1 The behaviour is reflected by states or operating modes.
NOTE 2 The different commands may be represented by one bit each.
3.1.7
communication cycle
accumulation of all telegrams between two master synchronisation telegrams
61800-7-304 IEC:2007 – 13 –
3.1.8
control
purposeful action on or in a process to meet specified objectives
[IEV 351-21-29]
3.1.9
control device
physical unit that contains – in a module/subassembly or device – an application program to
control the PDS
3.1.10
control unit
control device
3.1.11
control word
two adjacent bytes inside the master data telegram containing commands for the addressed
PDS
3.1.12
cycle time
time span between two consecutive cyclically recurring events
3.1.13
cyclic communication
the periodic excha
...
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