SIST EN 61800-7-202:2008
(Main)Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
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 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 profile type 2 (CIP Motion™) for Power Drive Systems (PDS). Profile type 2 can be mapped onto different communication network technologies.
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-202: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 2
Entraînements électriques de puissance à vitesse variable - Partie 7-202: Interface et utilisation génériques de profils pour les entraînements électriques de puissance - Spécifications des profils 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.
Električni pogonski sistemi z nastavljivo hitrostjo - 7-202. del: Generični vmesnik in uporaba profilov za električne pogonske sisteme - Specifikacija za profil tipa 2 (IEC 61800-7-202:2007)
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Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN 61800-7-202:2008
01-junij-2008
(OHNWULþQLSRJRQVNLVLVWHPL]QDVWDYOMLYRKLWURVWMRGHO *HQHULþQLYPHVQLN
LQXSRUDEDSURILORY]DHOHNWULþQHSRJRQVNHVLVWHPH6SHFLILNDFLMD]DSURILOWLSD
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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)
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-202:
Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) -
Spezifikation von Profil-Typ 2 (IEC 61800-7-202:2007)
Entraînements électriques de puissance à vitesse variable - Partie 7-202: Interface et
utilisation génériques de profils pour les entraînements électriques de puissance -
Spécifications des profils de type 2 (CEI 61800-7-202:2007)
Ta slovenski standard je istoveten z: EN 61800-7-202:2008
ICS:
29.200 8VPHUQLNL3UHWYRUQLNL Rectifiers. Convertors.
6WDELOL]LUDQRHOHNWULþQR Stabilized power supply
QDSDMDQMH
35.100.05 9HþVORMQHXSRUDEQLãNH Multilayer applications
UHãLWYH
SIST EN 61800-7-202:2008 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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EUROPEAN STANDARD
EN 61800-7-202
NORME EUROPÉENNE
April 2008
EUROPÄISCHE NORM
ICS 29.200; 35.100.05
English version
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)
Entraînements électriques de puissance Elektrische Leistungsantriebssysteme
à vitesse variable - mit einstellbarer Drehzahl -
Partie 7-202: Interface et utilisation Teil 7-202: Generisches Interface
génériques de profils pour les und Nutzung von Profilen
entraînements électriques de puissance - für Leistungsantriebssysteme (PDS) -
Spécifications des profils de type 2 Spezifikation von Profil-Typ 2
(CEI 61800-7-202:2007) (IEC 61800-7-202:2007)
This European Standard was approved by CENELEC on 2008-02-01. 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 Central Secretariat 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 Central Secretariat has the same status as the official versions.
CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Cyprus, the
Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain,
Sweden, Switzerland and the United Kingdom.
CENELEC
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
Central Secretariat: rue de Stassart 35, B - 1050 Brussels
© 2008 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members.
Ref. No. EN 61800-7-202:2008 E
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EN 61800-7-202:2008 - 2 -
Foreword
The text of document 22G/184/FDIS, future edition 1 of IEC 61800-7-202, 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 was
approved by CENELEC as EN 61800-7-202 on 2008-02-01.
The following dates were fixed:
– latest date by which the EN has to be implemented
at national level by publication of an identical
(dop) 2008-11-01
national standard or by endorsement
– latest date by which the national standards conflicting
(dow) 2011-02-01
with the EN have to be withdrawn
The International Electrotechnical Commission (IEC) and CENELEC draw attention to the fact that it is
claimed that compliance with this document may involve the use of a patent concerning:
Publication/
Holder Title
Application serial number
Time Stamped Motion Control Network Protocol That Enables Balanced Single
US 11/241,539 [RA]
Cycle Timing and Utilization of Dynamic Data Structures
The IEC and CENELEC take no position concerning the evidence, validity and scope of this patent right.
The holder of this patent right has assured the IEC that he/she is willing to negotiate licences under
reasonable and non-discriminatory terms and conditions with applicants throughout the world. In this
respect, the statement of the holder of this patent right is registered with the IEC. Information may be
obtained from:
[RA] Rockwell Automation, Inc.
1201 S. Second Street
Milwaukee, WI 53204
USA
Attention: Intellectual Property Dept.
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 and CENELEC shall not be held responsible for
identifying any or all such patent rights.
Annex ZA has been added by CENELEC.
__________
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- 3 - EN 61800-7-202:2008
Endorsement notice
The text of the International Standard IEC 61800-7-202:2007 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 NOTE Harmonized in EN 61158 series (not modified).
IEC 61158-2 NOTE Harmonized as EN 61158-2:2008 (not modified).
IEC 61158-3-2 NOTE Harmonized as EN 61158-3-2:2008 (not modified).
IEC 61158-4-2 NOTE Harmonized as EN 61158-4-2:2008 (not modified).
IEC 61499-1 NOTE Harmonized as EN 61499-1:2005 (not modified).
IEC 61784-1 NOTE Harmonized as EN 61784-1:2008 (not modified).
IEC 61784-2 NOTE Harmonized as EN 61784-2:2008 (not modified).
IEC 61800 NOTE Harmonized in EN 61800 series (not modified).
IEC 61800-7-201 NOTE Harmonized as EN 61800-7-201:2008 (not modified).
IEC 61800-7-203 NOTE Harmonized as EN 61800-7-203:2008 (not modified).
IEC 61800-7-204 NOTE Harmonized as EN 61800-7-204:2008 (not modified).
IEC 61800-7-301 NOTE Harmonized as EN 61800-7-301:2008 (not modified).
IEC 61800-7-302 NOTE Harmonized as EN 61800-7-302:2008 (not modified).
IEC 61800-7-303 NOTE Harmonized as EN 61800-7-303:2008 (not modified).
IEC 61800-7-304 NOTE Harmonized as EN 61800-7-304:2008 (not modified).
__________
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EN 61800-7-202:2008 - 4 -
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications
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.
NOTE When an international publication has been modified by common modifications, indicated by (mod), the relevant EN/HD
applies.
Publication Year Title EN/HD Year
1) 2)
IEC 60204-1 (mod) - Safety of machinery - Electrical equipment of EN 60204-1 2006
machines -
Part 1: General requirements
1) 2)
IEC 61131-3 - Programmable controllers - EN 61131-3 2003
Part 3: Programming languages
1) 2)
IEC 61158-5-2 - Industrial communication networks - EN 61158-5-2 2008
Fieldbus specifications -
Part 5-2: Application layer service definition -
Type 2 elements
1) 2)
IEC 61158-6-2 - Industrial communication networks - EN 61158-6-2 2008
Fieldbus specifications -
Part 6-2: Application layer protocol
specification - Type 2 elements
IEC 61588 2004 Precision clock synchronization protocol for - -
networked measurement and control systems
IEC 61800-7 Series Adjustable speed electrical power drive EN 61800-7 Series
systems - Generic interface and use of
profiles for power drive systems
1) 2)
IEC 61800-7-1 - Adjustable speed electrical power drive EN 61800-7-1 2008
systems -
Part 7-1: Generic interface and use of profiles
for power drive systems - Interface definition
1)
IEEE 802.1Q - IEEE Standard for Local and Metropolitan - -
Area Networks: Virtual Bridged Local Area
Networks
1)
Undated reference.
2)
Valid edition at date of issue.
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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
XJ
ICS 29.200; 35.100.05 ISBN 2-8318-9376-3
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– 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
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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
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– 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 Connection Format.33
Figure 13 – CIP Motion I/O Connection Channels .34
Figure 14 – CIP Motion Controller-to-Device Connection Format .34
Figure 15 – Connection Header .35
Figure 16 – Connection Format.35
Figure 17 – Connection Header .36
Figure 18 – Instance Data Block .37
Figure 19 – Instance Data Header .38
Figure 20 – Cyclic Data Header .38
Figure 21 – Cyclic Write Data Block .43
Figure 22 – Event Data Block .43
Figure 23 – Service Data Block.45
Figure 24 – CIP Motion Controller-to-Device Connection Format .46
Figure 25 – Connection Header .46
Figure 26 – Connection Header .47
Figure 27 – Adjustment of actual position data based on device time stamp .48
Figure 28 – Instance Data Block .48
Figure 29 – Instance Data Header .49
Figure 30 – Cyclic Data Block .49
Figure 31 – Cyclic Read Data Block .50
Figure 32 – Event Data Block .51
Figure 33 – Service Data Block.52
Figure 34 – Fixed Controller to Device Connection Format (fixed size = 16 bytes) .53
Figure 35 – Fixed Device to Controller Connection Format (fixed size = 16 bytes) .53
Figure 36 – CIP Motion I/O Connection timing model .54
Figure 37 – Controller-to-Drive Connection timing with fine interpolation.55
Figure 38 – Controller-to-Drive Connection timing with unequal update periods .57
Figure 39 – Use of Time Stamp to adjust actual position to the controller’s timebase .58
Figure 40 – Coordination of two drives with different Update Periods.59
Figure 41 – Coordination of multiple drive axes in case of delayed Controller-to-
Device Connection packets.60
Figure 42 – Propagation of a step change in time .61
Figure 43 – Group Sync of CIP Motion drives .64
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61800-7-202 © IEC:2007(E) – 5 –
Figure 44 – Object components for CIP motion architecture.66
Figure 45 – Controller Consumed Connection Data Format.79
Figure 46 – Controller Produced Connection Data Format .80
Figure 47 – Control Mode bit field .84
Figure 48 – IEEE per phase motor model.85
Figure 49 – Feedback Configuration bit field .97
Figure 50 – Event Checking Control word field.100
Figure 51 – Event Checking Status word field .101
Figure 52 – Interpolation Control word field.105
Figure 53 – Get Axis Attribute List Request Format. 142
Figure 54 – Get Axis Attribute List Response Format . 143
Figure 55 – Get Axis Attribute List Response – Example 1. 144
Figure 56 – Get Axis Attribute List Response – Example 2. 144
Figure 57 – Get Axis Attribute List Response – Example 3. 144
Figure 58 – Get Axis Attribute List Response – Example 4. 144
Figure 59 – Set Axis Attribute List Request Format . 145
Figure 60 – Set Axis Attribute List Request – Example 1. 146
Figure 61 – Set Axis Attribute List Request – Example 2. 146
Figure 62 – Set Axis Attribute List Request – Example 3. 146
Figure 63 – Set Axis Attribute List Response Format . 146
Figure 64 – Set Cyclic Write List Request Format .147
Figure 65 – Set Cyclic Write List Response Format.147
Figure 66 – Set Cyclic Read List Request Format .148
Figure 67 – Set Cyclic Read List Response Format . 148
Figure 68 – Motion Axis Object State Model.152
Figure 69 – Command Generator .163
Figure 70 – Feedback Channels 1 and 2 .167
Figure 71 – Feedback Channels 3 and 4 .168
Figure 72 – Event Capture Functionality .169
Figure 73 – No Control (Feedback Only) .171
Figure 74 – Closed Loop Position Control .172
Figure 75 – Closed Loop Velocity Control .174
Figure 76 – Open Loop Frequency Control.176
Figure 77 – Acceleration Control.177
Figure 78 – Torque Control .178
Figure 79 – Closed Loop Current Vector Control.179
Table 1 – Data types.28
Table 2 – Objects present in a CIP Motion drive device .30
Table 3 – Object effect on behavior .
...
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