IEC 61800-7-202:2007

Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification

IEC 61800-7-202:2007 specifies profiles for Power Drive Systems (PDS) and their mapping to existing communication systems by use of a generic interface model. It also specifies profile type 2 (CIP MotionTM) for Power Drive Systems (PDS). Profile type 2 can be mapped onto different communication network technologies.

Entraînements électriques de puissance à vitesse variable - Partie 7-202: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Spécification du profil de type 2

La CEI 61800-7-202:2007 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 le type de profil 2 (CIP MotionTM) pour les entraînements électriques de puissance (PDS). Le type de profil 2 peut être mis en correspondance avec différentes technologies de réseau de communication.

General Information

• Status: Published
• Publication Date: 26-Nov-2007
• ICS: 29.200 - Rectifiers. Convertors. Stabilized power supply
• ICS: 35.100.05 - Multilayer applications
• Technical Committee: SC 22G - Adjustable speed electric power drive systems (PDS)
• Drafting Committee: WG 10 - TC 22/SC 22G/WG 10
• Current Stage: DELPUB - Deleted Publication
• Completion Date: 20-Nov-2015

Relations

• Revised: IEC 61800-7-202:2015 - Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61800-7-202
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-202: Generic interface and use of profiles for power drive systems –
Profile type 2 specification
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
either IEC or IEC's member National Committee in the country of the requester.
If you have any questions about IEC copyright or have an enquiry about obtaining additional rights to this publication,
please contact the address below or your local IEC member National Committee for further information.

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IEC 61800-7-202
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-202: Generic interface and use of profiles for power drive systems –
Profile type 2 specification
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XH
ICS 29.200; 35.100.05 ISBN 2-8318-9376-3

– 2 – 61800-7-202 © IEC:2007(E)
CONTENTS
FOREWORD.9
INTRODUCTION.11

1 Scope.14
2 Normative references .14
3 Terms, definitions and abbreviated terms .15
3.1 Terms and definitions .15
3.2 Abbreviated terms .21
4 General .21
4.1 General .21
4.2 Control modes.22
4.2.1 General .22
4.2.2 Control methods .22
4.2.3 Control nomenclature .22
4.2.4 Position Control.23
4.2.5 Velocity Control .24
4.2.6 Acceleration Control .26
4.2.7 Torque Control .26
4.2.8 No Control .27
5 Data types.28
5.1 Data type overview.28
5.2 Conventions .29
6 CIP Drive Profile.29
6.1 Object model .29
6.1.1 Object overview.29
6.1.2 Object description.30
6.2 How objects affect behaviour.30
6.3 Defining object interfaces .30
6.4 I/O Connection messages .31
6.4.1 General .31
6.4.2 CIP Motion I/O connection .31
6.4.3 Controller-to-Device connection.34
6.4.4 Device-to-Controller connection.46
6.4.5 Fixed Device connection format.53
6.4.6 CIP Motion connection timing .54
6.5 Drive startup procedure .63
6.5.1 General .63
6.5.2 Motion I/O Connection creation .63
6.5.3 Motion Axis Object configuration .63
6.5.4 Time Synchronisation .64
6.6 Device visualisation.65
6.7 Ethernet Quality of Service (QoS).65
7 Motion Axis Object .66
7.1 General considerations.66
7.1.1 General .66
7.1.2 Object overview.66

61800-7-202 © IEC:2007(E) – 3 –
7.1.3 Motion Axis Object abstraction .66
7.1.4 Motion Control Axis Object .67
7.1.5 Drive control classification.67
7.1.6 Required vs. Optional in implementation.68
7.2 Class attributes .76
7.2.1 General .76
7.2.2 Semantics .79
7.3 Instance attributes.82
7.3.1 General .82
7.3.2 Motion Control configuration attributes .83
7.3.3 Motor attributes .85
7.3.4 Feedback attributes .92
7.3.5 Event Capture attributes.98
7.3.6 Command reference generation attributes .102
7.3.7 Control mode attributes . 106
7.3.8 Stopping & Braking attributes . 116
7.3.9 DC Bus Control attributes .119
7.3.10 Power and thermal management attributes . 120
7.3.11 Axis Status Attributes .122
7.3.12 Exception, fault, and alarm status attributes . 126
7.3.13 Exception limit attributes .131
7.3.14 Exception action configuration attribute .132
7.3.15 Initialisation fault status attributes . 134
7.3.16 Start inhibit status attributes .136
7.3.17 Axis statistical attributes.137
7.3.18 Axis info attributes.138
7.3.19 General purpose I/O attributes. 138
7.3.20 Local Mode Attributes.139
7.4 Common services.139
7.4.1 Supported services.139
7.4.2 Service specific data .140
7.5 Object specific services.141
7.5.1 Supported services.141
7.5.2 Service specific data .142
7.6 Behaviour.151
7.6.1 State model .151
7.6.2 State behaviour .154
7.6.3 Fault and alarm behaviour .157
7.6.4 Start Inhibit behaviour .158
7.6.5 Visualization behaviour.158
7.6.6 Command generation behaviour . 163
7.6.7 Feedback Interface Behavior .166
7.6.8 Event Capture Behavior.169
7.6.9 Control Mode Behaviour .170

Bibliography.181

Figure 1 – Structure of IEC 61800-7.13

– 4 – 61800-7-202 © IEC:2007(E)
Figure 2 – Open loop position control .23
Figure 3 – Closed loop position control .24
Figure 4 – Open loop velocity control.25
Figure 5 – Closed loop velocity control .25
Figure 6 – Acceleration control .26
Figure 7 – Torque control.27
Figure 8 – No control .28
Figure 9 – Object Model for a CIP Motion drive.29
Figure 10 – CIP Motion I/O connection model .31
Figure 11 – Controller-to-Device Connection Format.32
Figure 12 – Device-to-Controller Conne
...

IEC 61800-7-202 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-202: Generic interface and use of profiles for power drive systems –
Profile type 2 specification
Entraînements électriques de puissance à vitesse variable –
Partie 7-202: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Spécification du profil de type 2

All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
either IEC or IEC's member National Committee in the country of the requester.
If you have any questions about IEC copyright or have an enquiry about obtaining additional rights to this publication,
please contact the address below or your local IEC member National Committee for further information.

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International Standards for all electrical, electronic and related technologies.

About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.

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IEC 61800-7-202 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –

Part 7-202: Generic interface and use of profiles for power drive systems –

Profile type 2 specification
Entraînements électriques de puissance à vitesse variable –

Partie 7-202: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Spécification du profil de type 2

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XH
ICS 29.200; 35.100.05 ISBN 978-2-83220-844-1

– 2 – 61800-7-202  IEC:2007
CONTENTS
FOREWORD . 9
INTRODUCTION . 11

1 Scope . 14
2 Normative references . 14
3 Terms, definitions and abbreviated terms . 15
3.1 Terms and definitions . 15
3.2 Abbreviated terms . 21
4 General . 21
4.1 General . 21
4.2 Control modes . 22
4.2.1 General . 22
4.2.2 Control methods . 22
4.2.3 Control nomenclature . 22
4.2.4 Position Control . 23
4.2.5 Velocity Control . 24
4.2.6 Acceleration Control . 26
4.2.7 Torque Control . 26
4.2.8 No Control . 27
5 Data types . 28
5.1 Data type overview . 28
5.2 Conventions . 29
6 CIP Drive Profile . 29
6.1 Object model . 29
6.1.1 Object overview . 29
6.1.2 Object description . 30
6.2 How objects affect behaviour . 30
6.3 Defining object interfaces . 30
6.4 I/O Connection messages . 31
6.4.1 General . 31
6.4.2 CIP Motion I/O connection . 31
6.4.3 Controller-to-Device connection . 34
6.4.4 Device-to-Controller connection . 46
6.4.5 Fixed Device connection format . 53
6.4.6 CIP Motion connection timing . 54
6.5 Drive startup procedure . 63
6.5.1 General . 63
6.5.2 Motion I/O Connection creation . 63
6.5.3 Motion Axis Object configuration . 63
6.5.4 Time Synchronisation . 64
6.6 Device visualisation . 65
6.7 Ethernet Quality of Service (QoS). 65
7 Motion Axis Object . 66
7.1 General considerations . 66
7.1.1 General . 66
7.1.2 Object overview . 66

61800-7-202  IEC:2007 – 3 –
7.1.3 Motion Axis Object abstraction . 66
7.1.4 Motion Control Axis Object . 67
7.1.5 Drive control classification . 67
7.1.6 Required vs. Optional in implementation . 68
7.2 Class attributes . 75
7.2.1 General . 75
7.2.2 Semantics . 79
7.3 Instance attributes . 82
7.3.1 General . 82
7.3.2 Motion Control configuration attributes . 83
7.3.3 Motor attributes . 85
7.3.4 Feedback attributes . 92
7.3.5 Event Capture attributes . 98
7.3.6 Command reference generation attributes . 102
7.3.7 Control mode attributes . 106
7.3.8 Stopping & Braking attributes . 116
7.3.9 DC Bus Control attributes . 119
7.3.10 Power and thermal management attributes . 120
7.3.11 Axis Status Attributes . 122
7.3.12 Exception, fault, and alarm status attributes . 126
7.3.13 Exception limit attributes . 131
7.3.14 Exception action configuration attribute . 132
7.3.15 Initialisation fault status attributes . 134
7.3.16 Start inhibit status attributes . 136
7.3.17 Axis statistical attributes . 137
7.3.18 Axis info attributes . 138
7.3.19 General purpose I/O attributes. 138
7.3.20 Local Mode Attributes . 139
7.4 Common services . 139
7.4.1 Supported services . 139
7.4.2 Service
...