IEC 61800-7-302:2015
(Main)Adjustable speed electrical power drive systems - Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type 2 to network technologies
Adjustable speed electrical power drive systems - Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type 2 to network technologies
IEC 61800-7-302:2015 specifies the mapping of the profile type 2 (CIP MotionTM) specified in IEC 61800-7-202 onto different network technologies. This edition includes the following significant technical changes with respect to the previous edition:
- update of patent information;
- updates to the Connection Format and connection points;
- support of an additional object.
Entraînements électriques de puissance à vitesse variable - Partie 7-302: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Mise en correspondance du profil de type 2 avec les technologies de réseaux
L'IEC 61800-7-302:2015 spécifie la mise en correspondance du profil de type 2 (CIP MotionTM) décrit dans l'IEC 61800-7-202 avec les différentes technologies de réseaux. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
- mise à jour des informations sur les droits de propriété;
- mises à jour du Format de connexion et des points de connexion;
- prise en charge d'un objet supplémentaire.
General Information
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Standards Content (Sample)
IEC 61800-7-302 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-302: Generic interface and use of profiles for power drive systems –
Mapping of profile type 2 to network technologies
Entraînements électriques de puissance à vitesse variable –
Partie 7-302: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Mise en correspondance du profil de type 2 avec les
technologies de réseaux
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IEC 61800-7-302 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-302: Generic interface and use of profiles for power drive systems –
Mapping of profile type 2 to network technologies
Entraînements électriques de puissance à vitesse variable –
Partie 7-302: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Mise en correspondance du profil de type 2 avec les
technologies de réseaux
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2927-9
– 2 – IEC 61800-7-302:2015 © IEC 2015
CONTENTS
FOREWORD . 4
INTRODUCTION . 6
0.1 General . 6
0.2 Patent declaration . 9
1 Scope . 11
2 Normative references . 11
3 Terms, definitions and abbreviated terms . 11
3.1 Terms and definitions . 11
3.2 Abbreviated terms . 18
4 Principles for mapping CIP Motion™ . 19
4.1 General principles for mapping CIP Motion™ . 19
4.2 Mapping CIP Motion™ . 20
4.3 Data types . 20
4.4 I/O connection interface . 21
4.4.1 General . 21
4.4.2 I/O Connection Formats . 21
4.4.3 Fixed I/O Connection Format . 22
4.4.4 Variable I/O Connection Format . 23
5 Mapping to DeviceNet™ . 26
5.1 Adaptation of the device model . 26
5.2 Use of I/O data formats . 27
6 Mapping to ControlNet™ . 27
6.1 Adaptation of the device model . 27
6.2 Use of I/O data formats . 29
7 Mapping to EtherNet/IP™ . 29
7.1 Adaptation of the device model . 29
7.2 Use of I/O data formats . 30
Bibliography . 31
Figure 1 – Structure of IEC 61800-7 . 9
Figure 2 – Overview of CIP-based networks . 19
Figure 3 – Connection Header . 21
Figure 4 – Connection Format . 21
Figure 5 – Fixed Controller to Device I/O Connection Format (fixed size = 16 bytes). 23
Figure 6 – Fixed Device to Controller I/O Connection Format (fixed size = 16 bytes). 23
Figure 7 – Controller-to-Device I/O Connection Format (variable size) . 24
Figure 8 – Device-to-Controller I/O Connection Format (variable size) . 25
Figure 9 – Object Model for a CIP Motion device on DeviceNet . 26
Figure 10 – Object Model for a CIP Motion device on ControlNet . 28
Figure 11 – Object Model for a CIP Motion device on EtherNet/IP . 29
Table 1 – Data types . 21
Table 2 – Object classes for a CIP Motion device type on DeviceNet . 27
Table 3 – Object classes for a CIP Motion device type on ControlNet . 28
Table 4 – Object classes for a CIP Motion device type on EtherNet/IP . 30
– 4 – IEC 61800-7-302:2015 © IEC 2015
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-302: Generic interface and use of profiles for power
drive systems – Mapping of profile type 2 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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with the International Organization for Standardization (ISO) in accordance with conditions determined by
agreement between the two organizations.
2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
consensus of opinion on the relevant subjects since each technical committee has representation from all
interested IEC National Committees.
3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
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4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications
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between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in
the latter.
5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity
assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any
services carried out by independent certification bodies.
6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
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Publications.
8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
International Standard IEC 61800-7-302 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) update of patent information;
b) updates to the Connection Format and connection points;
c) support of an additional object.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/312/FDIS 22G/327/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.
– 6 – IEC 61800-7-302:2015 © IEC 2015
INTRODUCTION
0.1 General
The IEC 61800 series is intended to provide a common set of specifications for adjustable
speed electrical power drive systems.
IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing
communication systems by use of a generic interface model.
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 adapt 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.
IEC 61800-7-1 is divided into a generic part and several annexes as shown in Figure 1. The
TM
1 2 3 4
drive profiles types for CiA® 402 , CIP Motion , PROFIdrive and SERCOS® 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 2 (CIP Motion ) is mapped to the
TM TM TM
5 6 7
network technologies DeviceNet , ControlNet and EtherNet/IP .
IEC 61800-7-301, IEC 61800-7-303 and IEC 61800-7-304 specify how the profile types 1, 3
and 4 are mapped to different network technologies (such as CANopen® ,
—————————
CiA® 402 is a registered trade mark of CAN in Automation e.V. (CiA). This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade
mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark
CiA® 402. Use of the registered trade mark CiA® 402 requires permission of CAN in Automation e.V. (CiA).
CIP Motion™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its
products. Compliance to this profile does not require use of the trade mark CIP Motion™. Use of the trade mark
CIP Motion™ requires permission of ODVA, Inc.
PROFIdrive is a trade name of PROFIBUS & PROFINET 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 & PROFINET International.
SERCOS® is a registered trade mark 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
mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark
SERCOS®. Use of the registered trade mark SERCOS® requires permission of the trade mark holder.
DeviceNet™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its
products. Compliance to this profile does not require use of the trade mark DeviceNet™. Use of the trade mark
DeviceNet™ requires permission of ODVA, Inc.
ControlNet™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its
products. Compliance to this profile does not require use of the trade mark ControlNet™. Use of the trade mark
ControlNet™ requires permission of ODVA, Inc.
EtherNet/IP™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its
products. Compliance to this profile does not require use of the trade mark EtherNet/IP™. Use of the trade
mark EtherNet/IP™ requires permission of ODVA, Inc.
CANopen® is a registered trade mark of CAN in Automation e.V. (CiA). This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade
mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark
CANopen®. Use of the registered trade mark CANopen® requires permission of CAN in Automation e.V. (CiA).
CANopen® is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
– 8 – IEC 61800-7-302:2015 © IEC 2015
TM TM
9 10 11 12 13
CC-Link IE® Field Network , EPA™ , EtherCAT , Ethernet Powerlink , PROFIBUS ,
PROFINET and SERCOS®).
—————————
CC-Link IE® Field Network is a registered trade mark of Mitsubishi Electric Corporation. This information is
given for the convenience of users of this International Standard and does not constitute an endorsement by
IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the
registered trade mark CC-Link IE® Field Network. Use of the registered trade mark CC-Link IE® Field Network
requires permission of Mitsubishi Electric Corporation.
EPA™ is a trade mark of SUPCON Group Co. Ltd. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its
products. Compliance to this profile does not require use of the trade mark EPA™. Use of the trade mark
EPA™ requires permission of the trade mark holder.
EtherCAT® is a registered trade mark 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 trade mark holder or any of
its products. Compliance to this profile does not require use of the registered trade mark EtherCAT®. Use of
the registered trade mark EtherCAT® requires permission of the trade mark holder.
Ethernet Powerlink™ is a trade mark of Bernecker & Rainer Industrieelektronik Ges.m.b.H., control of trade
mark 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 trade mark holder or any of
its products. Compliance to this profile does not require use of the trade mark Ethernet Powerlink™. Use of the
trade mark Ethernet Powerlink™ requires permission of the trade mark holder.
PROFIBUS is a trade name of PROFIBUS & PROFINET 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 & PROFINET International.
PROFINET is a trade name of PROFIBUS & PROFINET 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 & PROFINET International.
IEC 61800 series
IEC TR 62390
Adjustable speed electrical power drive
Device profile guideline
systems
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 61800-7-302 IEC 61800-7-303 IEC 61800-7-304
IEC 61800-7-301
Mapping of profile Mapping of profile Mapping of profile
Mapping of profile
type 2 to: type 3 to: type 4 to:
type 1 to:
• CANopen • DeviceNet • PROFIBUS • SERCOS I + II
• ControlNet • PROFINET • SERCOS III
• CC-Link IE
• EPA • EtherNet/IP • EtherCAT
• EtherCAT
• ETHERNET
Powerlink
IEC
Figure 1 – Structure of IEC 61800-7
0.2 Patent declaration
The International Electrotechnical Commission (IEC) draws attention to the fact that it is
claimed that compliance with this document may involve the use of a patent concerning the
following. This patent is held by its inventors under license to ODVA, Inc:
Publication / Holder Title
Application serial number
US 7,983,769 [ODVA] Time stamped motion control network protocol that enables
EP 1659465 balanced single cycle timing and utilization of dynamic data
structures
IEC takes no position concerning the evidence, validity and scope of this patent right.
– 10 – IEC 61800-7-302:2015 © IEC 2015
ODVA and the holder of this patent right have assured the IEC that ODVA is willing to
negotiate licences either free of charge or under reasonable and non-discriminatory terms and
conditions with applicants throughout the world. In this respect, the statement of ODVA and
the holder of this patent right is registered with IEC. Information may be obtained from:
[ODVA] ODVA, Inc.
2370 East Stadium Boulevard #1000
Ann Arbor, Michigan 48104
USA
Attention: Office of the Executive Director
email: odva@odva.org
Attention is drawn to the possibility that some of the elements of this document may be the
subject of patent rights other than those identified above. IEC shall not be held responsible for
identifying any or all such patent rights.
ISO (www.iso.org/patents) and IEC (http://patents.iec.ch) maintain on-line data bases of
patents relevant to their standards. Users are encouraged to consult the data bases for the
most up to date information concerning patents.
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-302: Generic interface and use of profiles for power
drive systems – Mapping of profile type 2 to network technologies
1 Scope
TM
This part of IEC 61800 specifies the mapping of the profile type 2 (CIP Motion ) specified in
IEC 61800-7-202 onto different network technologies.
– DeviceNet™ (CP 2/3), see Clause 5,
– ControlNet™ (CP 2/1), see Clause 6,
– EtherNet/IP™ (CP 2/2), see Clause 7.
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.
2 Normative references
The following documents, in whole or in part, are normatively referenced in this document and
are indispensable for its application. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any
amendments) applies.
IEC 61158-4-2:2014, Industrial communication networks – Fieldbus specifications – Part 4-2:
Data-link layer protocol specification – Type 2 elements
IEC 61158-5-2:2014, Industrial communication networks – Fieldbus specifications – Part 5-2:
Application layer service definition – Type 2 elements
IEC 61158-6-2:2014, Industrial communication networks – Fieldbus specifications – Part 6-2:
Application layer protocol specification – Type 2 elements
IEC 61588:2009, Precision clock synchronization protocol for networked measurement and
control systems
IEC 61800-7-202, Adjustable speed electrical power drive systems – Part 7-202: Generic
interface and use of profiles for power drive systems – Profile type 2 specification
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
actual value
value of a variable quantity at a given instant
Note 1 to entry: Actual value is used in this document as input data of the application control program to monitor
variables of the PDS (e.g. feedback variables).
– 12 – IEC 61800-7-302:2015 © IEC 2015
[SOURCE: IEC 61800-7-1:2015, 3.3.1.1]
3.1.2
application
software functional element specific to the solution of a problem in industrial-process
measurement and control
Note 1 to entry: An application may be distributed among resources, and may communicate with other
applications.
[SOURCE: IEC 61800-7-1:2015, 3.2.2]
3.1.3
attribute
property or characteristic of an entity
[SOURCE: IEC 61800-7-1:2015, 3.2.3]
3.1.4
axis
logical element inside an automation system (e.g. a motion control system) that represents
some form of movement
Note 1 to entry: Axes can be rotary or linear, physical or virtual, controlled or simply observed.
[SOURCE: IEC 61800-7-1:2015, 3.2.4]
3.1.5
CIP Motion™
extensions to the CIP services and protocol to support motion control over CIP networks
[SOURCE: IEC 61800-7-1:2015, 3.3.3.1]
3.1.6
CIP Motion™ controller
CIP compliant controller containing a Motion Control Axis Object that can interface to a CIP
Motion device via a CIP Motion I/O Connection
Note 1 to entry: A description of the Motion Control Axis Object is beyond the scope of IEC 61800-7.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.2]
3.1.7
CIP Motion™ device
CIP compliant device containing one or more Motion Device Axis Object instances that can
communicate to a CIP Motion controller via a CIP Motion I/O Connection
EXAMPLE: A CIP Motion drive is a particular case of a CIP Motion device.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.3]
—————————
CIP Motion™ and CIP Sync™ are trade names of ODVA, Inc. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or
any of its products. Compliance to this profile does not require use of the trade names CIP Motion™ or CIP
Sync™. Use of the trade names CIP Motion™ or CIP Sync™ requires permission of ODVA, Inc.
3.1.8
CIP Motion™ drive profile
collection of objects used to implement a CIP Motion drive device that includes the Motion
Device Axis Object, as well as standard support objects like the Identity Object and the Time
Sync Object
Note 1 to entry: The Device Type assigned to the CIP Motion drive profile is 25 .
hex
[SOURCE: IEC 61800-7-202:2015, 3.1.10]
3.1.9
CIP Motion™ I/O Connection
CIP Motion™ Connection
periodic bi-directional, class 1, CIP connection between a controller and a drive that is defined
as part of the CIP Motion specification
[SOURCE: IEC 61800-7-1:2015, 3.3.3.4]
3.1.10
CIP Sync™
extensions to the CIP services and protocol to encapsulate IEC 61588:2009 time
synchronization functionality over a CIP Network
Note 1 to entry: See Time Sync Object in IEC 61158-5-2 and IEC 61158-6-2.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.5]
3.1.11
class
description of a set of objects that share the same attributes, operations, methods,
relationships, and semantics
[SOURCE: IEC 61800-7-1:2015, 3.2.5]
3.1.12
closed loop
methods of control where there is a feedback signal of some kind that is used to drive the
actual dynamics of the motor to match the commanded dynamics by servo action
Note 1 to entry: In most cases, there is a literal feedback device to provide this signal, but in some cases, the
signal is derived from the motor excitation (i.e. sensorless operation).
[SOURCE: IEC 61800-7-202:2015, 3.1.14]
3.1.13
commands
set of commands from the application control program to the PDS to control the behavior of
the PDS or functional elements of the PDS
Note 1 to entry: The behavior is reflected by states or operating modes.
Note 2 to entry: The different commands may be represented by one bit each.
[SOURCE: IEC 61800-7-1:2015, 3.3.1.3]
3.1.14
control
purposeful action on or in a process to meet specified objectives
[SOURCE: IEC 61800-7-1:2015, 3.2.6]
– 14 – IEC 61800-7-302:2015 © IEC 2015
3.1.15
control device
physical unit that contains – in a module/subassembly or device – an application program to
control the PDS
[SOURCE: IEC 61800-7-1:2015, 3.2.7]
3.1.16
Cyclic Data Block
high priority real-time data block that is transferred by a CIP Motion Connection on a periodic
basis
[SOURCE: IEC 61800-7-202:2015, 3.1.19]
3.1.17
data type
set of values together with a set of permitted operations
[SOURCE: IEC 61800-7-1:2015, 3.2.8]
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
[SOURCE: IEC 61800-7-1:2015, 3.2.9]
3.1.19
device
field device
entity that performs control, actuating and/or sensing functions and
interfaces to other such entities within an automation system
[SOURCE: IEC 61800-7-1:2015, 3.2.10]
3.1.20
device profile
representation of a device in terms of its parameters, parameter assemblies and behaviour
according to a device model that describes the data and behaviour of the device as viewed
through a network, independent from any network technology
[SOURCE: IEC 61800-7-1:2015, 3.2.11]
3.1.21
drive
device designed to control the dynamics of a motor
[SOURCE: IEC 61800-7-202:2015, 3.1.24]
3.1.22
Event Data Block
medium priority real-time data block that is transferred by a CIP Motion Connection only after
a specified event occurs
Note 1 to entry: Registration and marker input transitions are typical drive events.
[SOURCE: IEC 61800-7-202:2015, 3.1.25]
3.1.23
feedback variable
variable quantity, which represents the controlled variable and is returned to the comparing
element
[SOURCE: IEC 61800-7-1:2015, 3.2.12]
3.1.24
functional element
entity of software or software combined with hardware, capable of accomplishing a specified
function of a device
Note 1 to entry: A functional element has an interface, associations to other functional elements and functions.
Note 2 to entry: A functional element can be made out of function block(s), object(s) or parameter list(s).
[SOURCE: IEC 61800-7-1:2015, 3.2.13]
3.1.25
I/O data
input data and output data that would typically need to be updated on a regular basis (e.g.
periodic change of state)
EXAMPLE Commands, set-points, status and actual values
[SOURCE: IEC 61800-7-1:2015, 3.3.1.4]
3.1.26
input data
data transferred from an external source into a device, resource or functional element
[SOURCE: IEC 61800-7-1:2015, 3.2.14]
3.1.27
interface
shared boundary between two entities defined by functional characteristics, signal
characteristics, or other characteristics as appropriate
[SOURCE: IEC 61800-7-1:2015, 3.2.15]
3.1.28
model
mathematical or physical representation of a system or a process, based with sufficient
precision upon known laws, identification or specified suppositions
[SOURCE: IEC 61800-7-1:2015, 3.2.17]
3.1.29
motion
any aspect of the dynamics of an axis
Note 1 to entry: In the context of this part of IEC 61800-7, it is not limited to servo drives, but encompasses all
forms of drive based motor control.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.8]
– 16 – IEC 61800-7-302:2015 © IEC 2015
3.1.30
Motion Device Axis Object
object that defines the attributes, services, and behavior of a motion device based axis
according to the CIP Motion specification
Note 1 to entry: This object includes Communications, Device control, and Basic drive FE elements as defined in
IEC 61800-7.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.9]
3.1.31
open loop
methods of control where there is no application of feedback to force the actual motor
dynamics to match the commanded dynamics
EXAMPLE Examples of open loop control are stepper drives and variable frequency drives.
[SOURCE: IEC 61800-7-202:2015, 3.1.34]
3.1.32
operating mode
characterization of the way and the extent to which the human operator intervenes in the
control equipment
[SOURCE: IEC 61800-7-1:2015, 3.2.18]
3.1.33
output data
data originating in a device, resource or functional element and transferred from them to
external systems
[SOURCE: IEC 61800-7-1:2015, 3.2.19]
3.1.34
parameter
data element that represents device information that can be read from or written to a device,
for example through the network or a local HMI
Note 1 to entry: A parameter is typically characterized by a parameter name, data type and access direction.
[SOURCE: IEC 61800-7-1:2015, 3.2.20]
3.1.35
profile
representation of a PDS interface in terms of its parameters, parameter assemblies and
behavior according to a communication profile and a device profile
[SOURCE: IEC 61800-7-1:2015, 3.2.21, modified – Note 1 to entry is deleted]
3.1.36
read
get
operation that involves the retrieving of an attribute value from the perspective of the
controller side of the interface
[SOURCE: IEC 61800-7-202:2015, 3.1.39]
3.1.37
registration
high speed record of motion axis position triggered by an event
3.1.38
Service Data Block
lower priority real-time data block associated with a service message from the controller that
is transferred by a CIP Motion Connection on a periodic basis
Note 1 to entry: Service data includes service request messages to access Motion Device Axis Object attributes
or perform various drive diagnostics.
[SOURCE: IEC 61800-7-202:2015, 3.1.40]
3.1.39
set-point
value or variable used as output data of the application control program to control the PDS
Note 1 to entry: The value sent to the drive is used to directly control some aspect of the motor dynamics, which
includes (but is not limited to) position, velocity, acceleration, and torque.
[SOURCE: IEC 61800-7-1:2015, 3.3.1.5, modified – Note 1 to entry is added]
3.1.40
status
set of information from the PDS to the application control program reflecting the state or mode
of the PDS or a functional element of the PDS
Note 1 to entry: The different status information may be coded with one bit each.
[SOURCE: IEC 61800-7-1:2015, 3.3.1.6]
3.1.41
synchronized
condition where the local clock value on the drive is locked onto the master clock of the
distributed System Time
Note 1 to entry: When synchronized, the drive and controller devices may utilise time stamps associated with CIP
Motion Connection data.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.11]
3.1.42
System Time
absolute time value as defined in the CIP Sync specification in the context of a distributed
time system where all devices have a local clock that is synchronized with a common master
clock
Note 1 to entry: In the context of CIP Motion, System Time is a 64-bit integer value in units of nanoseconds with a
value of 0 corresponding to the date 1970-01-01.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.12]
3.1.43
time stamp
System Time stamp value associated with the CIP Motion Connection data that conveys the
absolute time when the associated data
...
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