IEC 61800-7-304:2015

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 61800-7-304:2015 specifies the mapping of the profile type 4 (SERCOS) specified in IEC 61800-7-204 onto different network technologies. This edition includes the following significant technical change with respect to the previous edition: Update of mapping specification.

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

L'IEC 61800-7-304:2015 spécifie la mise en correspondance du profil de type 4 (SERCOS), décrit dans l'IEC 61800-7-204, avec les différentes technologies de réseaux. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente: Mise à jour de la spécification de mise en correspondance.

General Information

• Status: Published
• Publication Date: 19-Nov-2015
• 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: MT 16 - TC 22/SC 22G/MT 16
• Current Stage: PPUB - Publication issued
• Start Date: 20-Nov-2015
• Completion Date: 31-Oct-2015

Relations

• Revises: IEC 61800-7-304:2007 - 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
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61800-7-304 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colourcolour
insinsiidede
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 2.0 2015-11
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
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2929-3

– 2 – IEC 61800-7-304:2015 © IEC 2015
CONTENTS
FOREWORD . 6
INTRODUCTION . 8
1 Scope . 12
2 Normative references . 12
3 Terms, definitions and abbreviated terms . 12
3.1 Terms and definitions . 12
3.2 Abbreviated terms . 18
4 General . 18
5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II) . 19
5.1 Reference to communication standards. 19
5.2 Overview. 19
5.3 Physical layer and topology . 21
5.4 Synchronization mechanism . 22
5.4.1 General . 22
5.4.2 Handling of command and feedback values . 23
5.4.3 Position loop with fine interpolator . 24
5.5 Telegram contents . 25
5.5.1 General . 25
5.5.2 Data block . 26
5.5.3 Communication function group telegrams . 26
5.5.4 Standard telegrams . 27
5.5.5 Application telegrams . 29
5.6 Non-cyclic data transfer . 30
5.7 Real-time bits. 30
5.7.1 Functions of real time bits . 30
5.7.2 Allocation of real-time bits . 32
5.7.3 Possible cases . 32
5.8 Signal control word and signal status word . 35
5.9 Data container . 36
5.10 Drive shutdown functions . 38
5.11 Communication classes . 39
5.11.1 General . 39
5.11.2 Communication class A . 40
5.11.3 Communication class B (Extended functions) . 42
5.11.4 Communication class C (Additional functions). 43
5.11.5 Communication cycle time granularity . 44
6 Mapping to CP16/3 (SERCOS III) . 44
6.1 Reference to communication standards. 44
6.2 Overview. 45
6.3 Physical layer and topology . 46
6.4 Synchronization mechanism and telegram content . 47
6.5 Non-cyclic data transfer . 47
6.6 Communication cycles . 48
6.7 Drive classes . 48
6.7.1 General . 48
6.7.2 Torque axis . 49

6.7.3 Velocity axis . 50
6.7.4 Velocity axis with position feedback . 51
6.7.5 Position axis . 53
6.7.6 Positioning axis . 55
7 Mapping to EtherCAT . 57
7.1 Reference to communication standards. 57
7.2 Overview. 57
7.3 SoE synchronization . 58
7.3.1 General . 58
7.3.2 CP16 Phase 0-2 . 59
7.3.3 CP16 Phase 3-4 . 59
7.4 SoE Application Layer Management . 59
7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine . 59
7.4.2 Multiple drives . 60
7.4.3 IDN usage . 60
7.5 SoE Process Data Mapping . 61
7.6 SoE Service Channel Services . 64
7.6.1 Overview . 64
7.6.2 SSC Read . 64
7.6.3 SSC Write. 68
7.6.4 SSC Procedure Commands . 72
7.6.5 SSC Slave Info . 75
7.7 SoE Coding general . 76
7.8 SoE Protocol Data Unit Coding . 78
7.8.1 SSC Read . 78
7.8.2 SSC Write. 82
7.8.3 Notify SSC Command Execution request . 87
7.8.4 SSC Slave Info . 88
Bibliography . 90

Figure 1 – Structure of IEC 61800-7 . 11
Figure 2 – Topology . 22
Figure 3 – Validity of command values and feedback acquisition time in the PDSs . 23
Figure 4 – Synchronization of cycle times . 24
Figure 5 – Synchronization of the control loops and the fine interpolator . 25
Figure 6 – AT configuration (example) . 30
Figure 7 – Function of the real-time bits . 32
Figure 8 – Allocation of IDN ≠ 0 to the real-time bits . 33
Figure 9 – Allocation of IDN = 0 to the real-time bits . 34
Figure 10 – Allocation of IDN ≠ 0 to the real-time bits . 35
Figure 11 – Configuration example of signal status word. 36
Figure 12 – Data container configuration without acknowledge (slave) . 37
Figure 13 – Data container configuration with acknowledge (slave) . 38
Figure 14 – Structure of communication classes . 39
Figure 15 – Topology . 46
Figure 16 – Telegram sequence . 47
Figure 17 – General communication cycle . 48

– 4 – IEC 61800-7-304:2015 © IEC 2015
Figure 18 – ESM and IEC 61158-4-16 State Machine . 59
Figure 19 – Successful SSC Read sequence . 65
Figure 20 – Unsuccessful SSC Read sequence . 65
Figure 21 – Successful SSC Fragmented Read sequence . 66
Figure 22 – Successful SSC Write sequence . 69
Figure 23 – Unsuccessful SSC Write sequence. 69
Figure 24 – Successful SSC Fragmented Write sequence . 70
Figure 25 – Successful SSC Procedure Command sequence . 73
Figure 26 – Aborted SSC Procedure Command sequence . 74
Figure 27 – Slave Info sequence . 75

Table 1 – CP16/1 and CP16/2 feature summary . 19
Table 2 – Number of PDSs per network (examples) . 20
Table 3 – Communication Profile Interoperability within a network . 21
Table 4 – Typical operation data for cyclic transmission . 25
Table 5 – Typical data for non-cyclic transmission . 26
Table 6 – IDN for choice and parameterisation of telegrams . 27
Table 7 – Structure of standard telegram-0 . 27
Table 8 – Structure of standard telegram-1 . 27
Table 9 – Structure of standard telegram-2 . 27
Table 10 – Structure of standard telegram-3 . 28
Table 11 – Structure of standard telegram-4 . 28
Table 12 – Structure of standard telegram-5 . 29
Table 13 – Structure of standard telegram-6 . 29
Table 14 – IDN for configuration of MDT . 29
Table 15 – IDN for configuration of AT . 30
Table 16 – IDN for real-time bits . 31
Table 17 – Real-time bits assignment IDNs . 31
Table 18 – IDN for configuring control and status words . 35
Table 19 – Data containers IDN . 36
Table 20 – Ring configuration – Timing . 40
Table 21 – Ring configuration – Telegram configuration . 40
Table 22 – Ring configuration – Phase run-up. 41
Table 23 – Service channel protocol . 41
Table 24 – Information & diagnostics . 41
Table 25 – Communication class A settings . 42
Table 26 – Ring configuration – Telegram configuration . 42
Table 27 – Information & diagnostics . 43
Table 28 – Real-time control bits . 43
Table 29 – Real-time status bits . 43
Table 30 – Communication class B settings . 43
Table 31 – CP16/3 features summary . 45
Table 32 – Mandatory bit combinations of Drive control . 49

Table 33 – Mandatory bit combinations of Drive status . 49
Table 34 – Supported operation mode . 50
Table 35 – Supported torque/force scaling . 50
Table 36 – Supported operation mode . 51
Table 37 – Supported velocity scaling . 51
Table 38 – Supported operation mode . 52
Table 39 – Supported position polarity . 52
Table 40 – Supported velocity scaling . 53
Table 41 – Supported position scaling . 53
Table 42 – Supported operation mode . 54
Table 43 – Supported position polarity . 54
Table 44 – Supported velocity scaling . 54
Table 45 – Supported position scaling . 54
Table 46 – Supported torque/force scaling . 55
Table 47 – Supported operation mode . 56
Table 48 – Supported position polarity . 56
Table 49 – Supported velocity scaling . 56
Table 50 – Supported position scaling . 56
Table 51 – Supported torque/force scaling . 57
Table 52 – Supported acceleration scaling . 57
Table 53 – EtherCAT feature summary . 58
Table 54 – Number of PDSs per network (examples) . 58
Table 55 – Obsolete IDNs . 60
Table 56 – Changed IDNs . 61
Table 57 – Status word of drive . 62
Table 58 – Control word for drive . 63
Table 59 – Mapping of SSC services to EtherCAT services . 64
Table 60 – SSC Read service . 66
Table 61 – Read SSC Fragment service . 68
Table 62 – SSC Write service . 70
Table 63 – Write SSC Fragment service . 72
Table 64 – Notify SSC Command Execution service . 74
Table 65 – SSC Slave Info service . 76
Table 66 – SoE Mailbox protocol. 77
Table 67 – SSC Read request . 79
Table 68 – SSC Read response . 80
Table 69 – Read SSC Fragment request . 81
Table 70 – SSC Write request . 83
Table 71 – SSC Write response . 85
Table 72 – Write SSC Fragment request . 86
Table 73 – Notify SSC Command Execution request . 88
Table 74 – Slave Info request . 89

– 6 – IEC 61800-7-304:2015 © IEC 2015
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
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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 second edition cancels and replaces the first edition published in 2007. This edition
constitutes a technical revision.
This edition includes the following significant technical change with respect to the previous
edition: Update of mapping specification.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/314/FDIS 22G/329/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.
– 8 – IEC 61800-7-304:2015 © IEC 2015
INTRODUCTION
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
1 TM2 3 4
drive profile 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 trade marks.
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.
This part of IEC 61800-7 specifies how the profile type 4 (SERCOS®) is mapped to the
® 5
network technologies SERCOS and EtherCAT® .

—————————
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 regsistered 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.
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.

– 10 – IEC 61800-7-304:2015 © IEC 2015
IEC 61800-7-301, IEC 61800-7-302 and IEC 61800-7-303 specify how the profile types 1, 2
and 3 are mapped to different network technologies (such as CANopen® ,
7 8 TM9 TM10
CC-Link IE® Field Network , EPA™ , EtherCAT®, Ethernet Powerlink , DeviceNet ,
TM11 TM12 13 14
ControlNet , EtherNet/IP , PROFIBUS and PROFINET ).
—————————
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.
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.
Ethernet Powerlink™ is a trade mark of B&R, 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.
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.
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 prof
...