SIST EN 61800-7-202:2016
(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
This part of IEC 61800 specifies profile type 2 (CIP Motion™) for Power Drive Systems (PDS).
Profile type 2 can be mapped onto different communication network technologies.
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 7-202: 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 générique et utilisation de profils pour les entraînements électriques de puissance - Spécification de profil de type 2
L'IEC 61800-7-202:2015 spécifie 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. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
a) mise à jour de l'information sur les brevets;
b) nouvelle révision des spécifications de Profil d'Entraînement et d'Axe d'Entraînement avec multiples clarifications et améliorations.
Električni pogonski sistemi z nastavljivo hitrostjo - 7-202. del: Generični vmesnik in uporaba profilov za električne pogonske sisteme - Specifikacija za profil tipa 2
Ta del standarda IEC 61800 določa profil tipa 2 (CIP Motion™) za električne pogonske sisteme (PDS). Profil tipa 2 je mogoče mapirati na različne tehnologije komunikacijskega omrežja. 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 61800-7-202:2016
01-april-2016
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SIST EN 61800-7-202:2008
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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
Ta slovenski standard je istoveten z: EN 61800-7-202:2016
ICS:
29.200 8VPHUQLNL3UHWYRUQLNL Rectifiers. Convertors.
6WDELOL]LUDQRHOHNWULþQR Stabilized power supply
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35.100.05 9HþVORMQHXSRUDEQLãNH Multilayer applications
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SIST EN 61800-7-202:2016 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN 61800-7-202:2016
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SIST EN 61800-7-202:2016
EUROPEAN STANDARD EN 61800-7-202
NORME EUROPÉENNE
EUROPÄISCHE NORM
February 2016
ICS 29.200; 35.100.05 Supersedes EN 61800-7-202:2008
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 61800-7-202:2015)
Entraînements électriques de puissance à vitesse variable - Elektrische Leistungsantriebssysteme mit einstellbarer
Partie 7-202: Interface générique et utilisation de profils Drehzahl - Teil 7-202: Generisches Interface und Nutzung
pour les entraînements électriques de puissance - von Profilen für Leistungsantriebssysteme (PDS) -
Spécification de profil de type 2 Spezifikation von Profil-Typ 2
(IEC 61800-7-202:2015) (IEC 61800-7-202:2015)
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 61800-7-202:2016 E
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SIST EN 61800-7-202:2016
EN 61800-7-202:2016
European foreword
The text of document 22G/308/FDIS, future edition 2 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 approved by CENELEC as EN 61800-7-202:2016.
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 61800-7-202:2008.
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 61800-7-202:2015 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 61131-3 NOTE Harmonized as EN 61131-3.
IEC 61158 Series NOTE Harmonized as EN 61158 Series.
IEC 61158-2:2014 NOTE Harmonized as EN 61158-2:2014 (not modified).
IEC 61158-3-2:2014 NOTE Harmonized as EN 61158-3-2:2014 (not modified).
1)
IEC 61499-1:2005 NOTE Harmonized as EN 61499-1:2005 (not modified).
IEC 61784-1:2014 NOTE Harmonized as EN 61784-1:2014 (not modified).
IEC 61784-2:2014 NOTE Harmonized as EN 61784-2:2014 (not modified).
IEC 61800 Series NOTE Harmonized as EN 61800 Series.
IEC 61800-7 Series NOTE Harmonized as EN 61800-7 Series.
IEC 61800-7-201 NOTE Harmonized as EN 61800-7-201.
IEC 61800-7-203 NOTE Harmonized as EN 61800-7-203.
IEC 61800-7-204 NOTE Harmonized as EN 61800-7-204.
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.
IEC 61800-7-304 NOTE Harmonized as EN 61800-7-304.
IEC 62026-3 NOTE Harmonized as EN 62026-3.
1)
Superseded by EN 61499-1:2013 (IEC 61499-1:2012).
2
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SIST EN 61800-7-202:2016
EN 61800-7-202:2016
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 60204-1 - Safety of machinery - Electrical equipment EN 60204-1 -
of machines -
Part 1: General requirements
IEC 61158-4-2 2014 Industrial communication networks - EN 61158-4-2 2014
Fieldbus specifications -
Part 4-2: Data-link layer protocol
specification - Type 2 elements
IEC 61158-5-2 2014 Industrial communication networks - EN 61158-5-2 2014
Fieldbus specifications -
Part 5-2: Application layer service definition -
Type 2 elements
IEC 61158-6-2 2014 Industrial communication networks - EN 61158-6-2 2014
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 61800-7-1 2015 Adjustable speed electrical power drive EN 61800-7-1 2016
systems -
Part 7-1: Generic interface and use of
profiles for power drive systems - Interface
definition
IEEE Std 112 2004 IEEE Standard Test Procedure for - -
Polyphase Induction Motors and Generators
3
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SIST EN 61800-7-202:2016
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SIST EN 61800-7-202:2016
IEC 61800-7-202
®
Edition 2.0 2015-11
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 de profil de type 2
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2943-9
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 61800-7-202:2016
– 2 – IEC 61800-7-202:2015 © IEC 2015
CONTENTS
FOREWORD . 10
INTRODUCTION . 12
0.1 General . 12
0.2 Patent declaration . 15
1 Scope . 17
2 Normative references . 17
3 Terms, definitions and abbreviated terms . 17
3.1 Terms and definitions . 17
3.2 Abbreviated terms . 25
4 Overview . 25
4.1 General . 25
4.2 Control modes . 26
4.2.1 General . 26
4.2.2 Control methods . 26
4.2.3 Control nomenclature . 27
4.2.4 Position control . 27
4.2.5 Velocity control . 28
4.2.6 Acceleration control . 30
4.2.7 Torque control . 30
4.2.8 No Control . 31
5 Data types . 32
5.1 Data type overview . 32
5.2 Conventions . 32
6 CIP Motion drive profile . 32
6.1 Object model . 32
6.1.1 Object overview . 32
6.1.2 Object description . 33
6.2 How objects affect behavior . 34
6.3 Defining object interfaces . 34
6.4 I/O connection messages . 35
6.4.1 General . 35
6.4.2 CIP Motion I/O Connection . 35
6.4.3 Controller-to-Device Connection . 39
6.4.4 Device-to-Controller Connection . 59
6.4.5 Fixed Motion I/O connection format . 68
6.4.6 CIP Motion I/O Connection timing model . 69
6.5 Device startup procedure . 85
6.5.1 General . 85
6.5.2 Motion I/O Connection creation . 85
6.5.3 Motion Device Axis Object configuration . 88
6.5.4 Time Synchronization . 90
6.6 Device visualisation . 92
6.7 Ethernet/IP Quality of Service (QoS) . 93
7 Motion Device Axis Object . 93
7.1 General considerations . 93
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7.1.1 General . 93
7.1.2 Revision history . 93
7.1.3 Object overview . 93
7.1.4 Motion Device Axis Object abstraction . 94
7.1.5 Motion Control Axis Object . 95
7.1.6 Device control classification . 95
7.1.7 Required vs. Optional in implementation . 96
7.2 Class attributes . 107
7.2.1 General . 107
7.2.2 Semantics. 111
7.3 Instance attributes . 114
7.3.1 General . 114
7.3.2 Motion Control configuration attributes . 116
7.3.3 Motion Scaling attributes . 117
7.3.4 Connection Data attributes . 123
7.3.5 Motor attributes . 129
7.3.6 Feedback attributes . 140
7.3.7 Event Capture attributes . 149
7.3.8 Command reference generation attributes . 155
7.3.9 Control mode attributes . 158
7.3.10 Stopping & Braking attributes . 176
7.3.11 DC Bus Control attributes . 186
7.3.12 Power and thermal management attributes . 190
7.3.13 Axis Status attributes . 193
7.3.14 Exception, fault, and alarm attributes . 199
7.3.15 Fault and alarm Log attributes . 205
7.3.16 Exception limit attributes . 210
7.3.17 Axis exception action configuration attribute . 213
7.3.18 Initialization fault attributes . 215
7.3.19 Start inhibit attributes . 216
7.3.20 APR fault attributes . 217
7.3.21 Axis statistical attributes . 219
7.3.22 Axis info attributes . 219
7.3.23 General purpose I/O attributes . 220
7.3.24 Local Mode attributes . 222
7.3.25 Axis Safety attributes . 222
7.4 Common services . 223
7.4.1 Supported services . 223
7.4.2 Service specific data . 224
7.5 Object specific services . 226
7.5.1 Supported services . 226
7.5.2 Service specific data . 226
7.6 Behavior . 241
7.6.1 State model . 241
7.6.2 State behavior . 252
7.6.3 Fault and alarm behavior . 259
7.6.4 Start Inhibit behavior . 261
7.6.5 Visualization behavior . 261
7.6.6 Command generation behavior . 266
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7.6.7 Feedback interface behavior . 271
7.6.8 Event Capture Behavior . 273
7.6.9 Control Mode behavior. 274
Bibliography . 288
Figure 1 – Structure of IEC 61800-7 . 15
Figure 2 – Open loop position control. 27
Figure 3 – Closed loop position control . 28
Figure 4 – Open loop velocity control . 29
Figure 5 – Closed loop velocity control . 29
Figure 6 – Acceleration control . 30
Figure 7 – Torque control . 31
Figure 8 – No Control (Feedback Only) . 31
Figure 9 – Object Model for a CIP Motion device . 33
Figure 10 – CIP Motion I/O Connection model . 35
Figure 11 – CIP Motion I/O Connection channels . 36
Figure 12 – Controller-to-Device Connection format (Connection Point 2) . 37
Figure 13 – Device-to-Controller Connection format (Connection Point 2) . 38
Figure 14 – CIP Motion Controller-to-Device Connection format . 39
Figure 15 – Connection Header . 39
Figure 16 – Connection Format . 39
Figure 17 – Connection Header . 40
Figure 18 – Instance Data Block . 43
Figure 19 – Instance Data Header . 43
Figure 20 – Cyclic Data Block . 44
Figure 21 – Control Mode . 44
Figure 22 – Feedback Mode. 44
Figure 23 – Cyclic Write Data Block . 50
Figure 24 – Cyclic Write Data Block example . 50
Figure 25 – Event Data Block. 51
Figure 26 – Service Data Block . 58
Figure 27 – CIP Motion Device-to-Controller Connection format . 59
Figure 28 – Connection Header . 59
Figure 29 – Connection Header . 60
Figure 30 – Node Fault/Alarm . 61
Figure 31 – Adjustment of actual position data based on Device Time Stamp . 62
Figure 32 – Instance Data Block . 63
Figure 33 – Instance Data Header . 63
Figure 34 – Cyclic Data Block . 63
Figure 35 – Cyclic Read Data Block . 65
Figure 36 – Cyclic Read Data Block example . 65
Figure 37 – Event Data Block. 66
Figure 38 – Service Data Block . 68
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Figure 39 – Fixed Controller-to-Device Connection format (fixed size = 16 bytes) . 69
Figure 40 – Fixed Device-to-Controller Connection format (fixed size = 16 bytes) . 69
Figure 41 – CIP Motion 1-Cycle timing model . 70
Figure 42 – CIP Motion 2-Cycle timing model . 72
Figure 43 – CIP Motion 3-Cycle timing model . 73
Figure 44 – Controller-to-Device Connection timing with fine interpolation . 74
Figure 45 – Controller-to-Device Connection timing with extrapolation . 76
Figure 46 – Use of Time Stamp to adjust actual position to the controller’s timebase . 77
Figure 47 – Coordination of two drives with different Update Periods . 79
Figure 48 – Coordination of multiple drive axes in case of delayed Controller-to-
Device Connection packets . 80
Figure 49 – Propagation of a step change in time . 81
Figure 50 – Configuration Block Format Revision 1 (Connection Point 81) . 86
Figure 51 – Configuration Block Format Revision 2 (Connection Point 82) . 87
Figure 52 – Typical initial C-to-D connection data block . 88
Figure 53 – Typical initial D-to-C connection data block . 88
Figure 54 – Typical contents of first C-to-D class attribute configuration packet . 88
Figure 55 – Typical response to first C-to-D class configuration packet . 89
Figure 56 – Typical contents of first C-to-D axis instance configuration packet. 89
Figure 57 – Typical response to first C-to-D axis configuration packet . 90
Figure 58 – Typical contents of C-to-D Time Sync service request packet . 90
Figure 59 – Group Sync of CIP Motion devices . 91
Figure 60 – Object components for CIP Motion control architecture . 94
Figure 61 – Command Control Word field . 127
Figure 62 – IEEE Std 112 per phase motor model . 130
Figure 63 – Event Checking Control Word field . 152
Figure 64 – Event Checking Status word field . 153
Figure 65 – Brake Control Sequence (Category 0 Stop) . 182
Figure 66 – Brake Control Sequence (Category 1 Stop) . 183
Figure 67 – Brake Control Sequence (Category 2 Stop) . 184
Figure 68 – Drive Enable sequence with Proving feature . 185
Figure 69 – Drive Disable sequence with Proving feature . 186
Figure 70 – Get_Axis_Attributes_List Request rormat . 227
Figure 71 – Get_Axis_Attributes_List Response format . 228
Figure 72 – Get_Axis_Attributes_List Response – Single 4-byte attribute . 228
Figure 73 – Get_Axis_Attributes_List Response – Single 2-byte attribute . 228
Figure 74 – Get_Axis_Attributes_List Response – Byte attribute array . 229
Figure 75 – Get_Axis_Attributes_List Response – Two Dimensional attribute array . 229
Figure 76 – Get_Ax
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