SIST EN 61800-7-304:2016
(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
This part of IEC 61800 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.
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.
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-304: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Abbildung von Profil-Typ 4 auf Netzwerktechnologien
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.
Električni pogonski sistemi z nastavljivo hitrostjo - 7-304. del: Generični vmesnik in uporaba profilov za električne pogonske sisteme - Preslikava profila tipa 4 na omrežne tehnologije
Ta del standarda IEC 61800 določa mapiranje profila tipa 4 (SERCOS), ki ga določa standard IEC 61800-7-204, na različne omrežne tehnologije.
– SERCOS I / II, glej točko 5,
– SERCOS III, glej točko 6,
– EtherCAT, glej točko 7.
Funkcije, določene v tem delu standarda IEC 61800-7, niso namenjene za zagotavljanje funkcionalne varnosti. Za to so potrebni dodatni ukrepi v skladu z ustreznimi standardi, sporazumi in zakoni.
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN 61800-7-304:2016
01-april-2016
1DGRPHãþD
SIST EN 61800-7-304:2008
(OHNWULþQLSRJRQVNLVLVWHPL]QDVWDYOMLYRKLWURVWMRGHO *HQHULþQLYPHVQLN
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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
Ta slovenski standard je istoveten z: EN 61800-7-304:2016
ICS:
29.200 8VPHUQLNL3UHWYRUQLNL Rectifiers. Convertors.
6WDELOL]LUDQRHOHNWULþQR Stabilized power supply
QDSDMDQMH
35.100.05 9HþVORMQHXSRUDEQLãNH Multilayer applications
UHãLWYH
SIST EN 61800-7-304:2016 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN 61800-7-304:2016
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SIST EN 61800-7-304:2016
EUROPEAN STANDARD EN 61800-7-304
NORME EUROPÉENNE
EUROPÄISCHE NORM
February 2016
ICS 29.200; 35.100.05 Supersedes EN 61800-7-304:2008
English Version
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)
Entraînements électriques de puissance à vitesse variable - Elektrische Leistungsantriebssysteme mit einstellbarer
Partie 7-304: Interface générique et utilisation de profils Drehzahl - Teil 7-304: Generisches Interface und Nutzung
pour les entraînements électriques de puissance - Mise en von Profilen für Leistungsantriebssysteme (PDS) -
correspondance du profil de type 4 avec les technologies Abbildung von Profil-Typ 4 auf Netzwerktechnologien
de réseaux (IEC 61800-7-304:2015)
(IEC 61800-7-304:2015)
This European Standard was approved by CENELEC on 2015-12-25. CENELEC members are bound to comply with the CEN/CENELEC
Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration.
Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC
Management Centre or to any CENELEC member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the
same status as the official versions.
CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic,
Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland,
Turkey and the United Kingdom.
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels
© 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.
Ref. No. EN 61800-7-304:2016 E
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SIST EN 61800-7-304:2016
EN 61800-7-304:2016
European foreword
The text of document 22G/314/FDIS, future edition 2 of IEC 61800-7-304, prepared by
SC 22G “Adjustable speed electric drive systems incorporating semiconductor power converters” of
IEC/TC 22 “Power electronic systems and equipment" was submitted to the IEC-CENELEC parallel
vote and approved by CENELEC as EN 61800-7-304:2016.
The following dates are fixed:
• latest date by which the document has to be (dop) 2016-09-25
implemented at national level by
publication of an identical national
standard or by endorsement
(dow) 2018-12-25
• latest date by which the national
standards conflicting with the
document have to be withdrawn
This document supersedes EN 61800-7-304:2008.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CENELEC [and/or CEN] shall not be held responsible for identifying any or all such
patent rights.
Endorsement notice
The text of the International Standard IEC 61800-7-304:2015 was approved by CENELEC as a
European Standard without any modification.
In the official version, for Bibliography, the following notes have to be added for the standards indicated:
IEC 61158:2014 Series NOTE Harmonized as EN 61158:2014 Series.
1)
IEC 61499-1:2005 NOTE Harmonized as EN 61499-1:2005 (not modified).
IEC 61800 Series NOTE Harmonized as EN 61800 Series.
IEC 61800-7 Series NOTE Harmonized as EN 61800-7 Series.
IEC 61800-7-1 NOTE Harmonized as EN 61800-7-1.
IEC 61800-7-201 NOTE Harmonized as EN 61800-7-201.
IEC 61800-7-202 NOTE Harmonized as EN 61800-7-202.
IEC 61800-7-203 NOTE Harmonized as EN 61800-7-203.
IEC 61800-7-301 NOTE Harmonized as EN 61800-7-301.
IEC 61800-7-302 NOTE Harmonized as EN 61800-7-302.
IEC 61800-7-303 NOTE Harmonized as EN 61800-7-303.
1)
Superseded by EN 61499-1:2013 (IEC 61499-1:2012).
2
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SIST EN 61800-7-304:2016
EN 61800-7-304:2016
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications
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.
NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod), the relevant
EN/HD applies.
NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is available here:
www.cenelec.eu
Publication Year Title EN/HD Year
IEC 61158-2 - Industrial communication networks - EN 61158-2 -
Fieldbus specifications -
Part 2: Physical layer specification
and service definition
IEC 61158-4-16 - Industrial communication networks - EN 61158-4-16 -
Fieldbus specifications -
Part 4-16: Data-link layer protocol
specification - Type 16 elements
IEC 61158-5-16 - Industrial communication networks - EN 61158-5-16 -
Fieldbus specifications -
Part 5-16: Application layer service
definition - Type 16 elements
2)
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 - EN 61784-1 -
Profiles -
Part 1: Fieldbus profiles
IEC 61784-2 - Industrial communication networks - EN 61784-2 -
Profiles -
Part 2: Additional fieldbus profiles for
real-time networks based on ISO/IEC
8802-3
IEC 61800-7-204 2015 Adjustable speed electrical EN 61800-7-204 2016
power drive systems -
Part 7-204: Generic interface and use
of profiles for power drive systems -
Profile type 4 specification
ISO/IEC/IEEE 8802-3 2014 Standard for Ethernet - -
2)
Withdrawn publication.
3
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SIST EN 61800-7-304:2016
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SIST EN 61800-7-304:2016
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
Warning! Make sure that you obtained this publication from an authorized distributor.
Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé.
® Registered trademark of the International Electrotechnical Commission
Marque déposée de la Commission Electrotechnique Internationale
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SIST EN 61800-7-304:2016
– 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
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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
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– 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
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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 resp
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