SIST EN 61800-7-204:2016

Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use of profiles for power drive systems - Profile type 4 specification

This part of IEC 61800 specifies profile type 4 for power drive systems (PDS). Profile type 4
can be mapped onto different communication network technologies.
The functions specified in this part of IEC 61800 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 7-204: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 4

Entraînements électriques de puissance à vitesse variable - Partie 7-204: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Spécification de profil de type 4

L'IEC 61800-7-204:2015 spécifie le type de profil 4 pour les entraînements électriques de puissance (PDS). Le type de profil 4 peut être mis en correspondance avec différentes technologies de réseaux de communication. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
- mise à jour des paramètres du dispositif d'entraînement et de leurs spécifications.

Električni pogonski sistemi z nastavljivo hitrostjo - 7-204. del: Generični vmesnik in uporaba profilov za električne pogonske sisteme - Specifikacija za profil tipa 4

Ta del standarda IEC 61800 določa profil tipa 4 (CIP Motion™) za električne pogonske sisteme (PDS). Profil tipa 4 je mogoče mapirati na različne tehnologije komunikacijskega omrežja. Funkcije, določene v tem delu standarda IEC 61800, niso namenjene za zagotavljanje funkcionalne varnosti. Za to so potrebni dodatni ukrepi v skladu z ustreznimi standardi, sporazumi in zakoni.

General Information

• Status: Published
• Publication Date: 09-Mar-2016
• ICS: 29.200 - Rectifiers. Convertors. Stabilized power supply
• ICS: 35.100.05 - Multilayer applications
• Technical Committee: I11 - Imaginarni 11
• Current Stage: 6060 - National Implementation/Publication (Adopted Project)
• Start Date: 02-Mar-2016
• Due Date: 07-May-2016
• Completion Date: 10-Mar-2016
• Ref Project: EN 61800-7-204:2016 - Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use of profiles for power drive systems - Profile type 4 specification

Relations

• Replaces: SIST EN 61800-7-204:2008 - Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use of profiles for power drive systems - Profile type 4 specification
• Effective Date: 01-Apr-2016
• Replaces: SIST EN 61800-7-204:2008 - Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use of profiles for power drive systems - Profile type 4 specification
• Effective Date: 28-Jan-2023

Standards Content (Sample)

SLOVENSKI STANDARD
SIST EN 61800-7-204:2016
01-april-2016
1DGRPHãþD
SIST EN 61800-7-204:2008
(OHNWULþQLSRJRQVNLVLVWHPL]QDVWDYOMLYRKLWURVWMRGHO*HQHULþQLYPHVQLN
LQXSRUDEDSURILORY]DHOHNWULþQHSRJRQVNHVLVWHPH6SHFLILNDFLMD]DSURILOWLSD
Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use
of profiles for power drive systems - Profile type 4 specification
Ta slovenski standard je istoveten z: EN 61800-7-204:2016
ICS:
29.200 8VPHUQLNL3UHWYRUQLNL Rectifiers. Convertors.
6WDELOL]LUDQRHOHNWULþQR Stabilized power supply
QDSDMDQMH
35.100.05 9HþVORMQHXSRUDEQLãNH Multilayer applications
UHãLWYH
SIST EN 61800-7-204:2016 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST EN 61800-7-204:2016

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SIST EN 61800-7-204:2016


EUROPEAN STANDARD EN 61800-7-204

NORME EUROPÉENNE

EUROPÄISCHE NORM
February 2016
ICS 29.200; 35.100.05 Supersedes EN 61800-7-204:2008
English Version
Adjustable speed electrical power drive systems -
Part 7-204: Generic interface and use of profiles for power drive
systems - Profile type 4 specification
(IEC 61800-7-204:2015)
Entraînements électriques de puissance à vitesse variable - Elektrische Leistungsantriebssysteme mit einstellbarer
Partie 7-204: Interface générique et utilisation de profils Drehzahl - Teil 7-204: Generisches Interface und Nutzung
pour les entraînements électriques de puissance - von Profilen für Leistungsantriebssysteme (PDS) -
Spécification de profil de type 4 Spezifikation von Profil-Typ 4
(IEC 61800-7-204:2015) (IEC 61800-7-204:2015)
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 61800-7-204:2016 E

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SIST EN 61800-7-204:2016
EN 61800-7-204:2016
European foreword
The text of document 22G/310/FDIS, future edition 2 of IEC 61800-7-204, 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 61800-7-204:2016.

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 61800-7-204:2008.

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 61800-7-204:2015 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 Series NOTE Harmonized as EN 61158 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.
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 61800-7-204:2016
EN 61800-7-204:2016
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 61158-4-16 -  Industrial communication networks - EN 61158-4-16 -
Fieldbus specifications -
Part 4-16: Data-link layer protocol
specification - Type 16 elements
IEC 61158-4-19 -  Industrial communication networks - EN 61158-4-19 -
Fieldbus specifications -
Part 4-19: Data-link layer protocol
specification - Type 19 elements
IEC 61158-6-16 -  Industrial communication networks - EN 61158-6-16 -
Fieldbus specifications -
Part 6-16: Application layer protocol
specification - Type 16 elements
IEC 61800-7-304 2015 Adjustable speed electrical power drive EN 61800-7-304 2016
systems -
Part 7-304: Generic interface and use of
profiles for power drive systems - Mapping
of profile type 4 to network technologies

3

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SIST EN 61800-7-204:2016

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SIST EN 61800-7-204:2016




IEC 61800-7-204

®


Edition 2.0 2015-11




INTERNATIONAL



STANDARD




NORME



INTERNATIONALE
colour

inside










Adjustable speed electrical power drive systems –

Part 7-204: Generic interface and use of profiles for power drive systems –

Profile type 4 specification




Entraînements électriques de puissance à vitesse variable –

Partie 7-204: Interface générique et utilisation de profils pour les entraînements


électriques de puissance – Spécification de profil de type 4













INTERNATIONAL

ELECTROTECHNICAL

COMMISSION


COMMISSION

ELECTROTECHNIQUE


INTERNATIONALE




ICS 29.200; 35.100.05 ISBN 978-2-8322-2947-7



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 61800-7-204:2016
– 2 – IEC 61800-7-204:2015 © IEC 2015
CONTENTS
FOREWORD . 39
INTRODUCTION . 41
1 Scope . 45
2 Normative references . 45
3 Terms, definitions and abbreviated terms . 45
3.1 Terms and definitions . 45
3.2 Abbreviated terms . 50
4 General . 51
5 Data types . 51
6 Short description of SERCOS data exchange . 51
6.1 General . 51
6.2 Synchronization . 52
7 Drive application functions . 52
7.1 Drive operation modes . 52
7.1.1 Operation mode selections . 52
7.1.2 Torque/force control . 56
7.1.3 Velocity control . 58
7.1.4 Position control . 61
7.1.5 Interpolation and positioning . 64
7.2 Drive state machine . 68
7.2.1 Description of the FG Drive state machine . 68
7.2.2 Start-up . 70
7.2.3 Shut-down . 71
7.3 Drive parameters . 73
7.3.1 Motor parameters (FG Motor) . 73
7.3.2 Amplifier parameters (FG Amplifier) . 73
7.3.3 Motor feedback parameters (FG Motor feedback) . 74
7.3.4 External feedback parameters (FG External feedback) . 74
7.3.5 Mechanical parameters (FG Mechanics) . 74
7.3.6 Power parameters (FG_Power_Limit) . 75
7.3.7 Acceleration parameters (FG Acceleration limit) . 75
7.3.8 Drive specifically diagnosis parameters (FG Drive diagnosis) . 75
7.3.9 Temperature parameters with warning and shut-down diagnostics
(FG_Drive_Warning) . 76
7.4 Drive synchronous operation (FG Drive synchronous operation) . 76
7.4.1 General . 76
7.4.2 Synchronization of the synchronous spindle to the lead spindle with a
fixed angular offset . 77
7.4.3 New synchronous position offset after synchronization . 79
7.4.4 New speed ratio after synchronization . 79
7.5 Homing . 80
7.5.1 Description of FG Drive homing . 80
7.5.2 Drive controlled homing . 80
7.5.3 Control unit controlled homing . 82
7.5.4 Set absolute position . 86
7.6 Cyclic Marker Detection (FG Cyclic marker detection) . 89

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SIST EN 61800-7-204:2016
IEC 61800-7-204:2015 © IEC 2015 – 3 –
7.7 Modification of the coordinate system (FG Modify coordinate system) . 90
7.8 Spindle positioning procedure (FG Position spindle) . 91
7.8.1 General . 91
7.8.2 Start conditions of spindle positioning . 91
7.8.3 New position values while the procedure command is active. 93
7.8.4 Switching the positioning mode angle position/relative offset while the
procedure command is active . 93
7.9 Velocity window . 94
7.10 Park axis procedure command (FG Park axis). 95
7.11 Move to Positive stop (FG Positive stop) . 96
7.12 Parameter sets and gear ratios . 96
7.12.1 Definition of FG Parameter sets . 96
7.12.2 Switching of parameter sets and gear ratio . 97
7.13 Gear engaging procedure command (FG Gear engaging) . 97
7.14 Position switches (FG Position switch) . 99
7.14.1 General . 99
7.14.2 Position switch mode . 100
7.14.3 Cam switch mode . 100
8 Scaling of operation data . 101
8.1 General . 101
8.2 Scaling of position data . 102
8.2.1 Description of FG Scale position . 102
8.2.2 No scaling of position data . 102
8.2.3 Scaling of linear position data . 102
8.2.4 Scaling of rotational position data . 103
8.3 Scaling of velocity data . 103
8.3.1 Description of FG Scale velocity . 103
8.3.2 No scaling of velocity data . 104
8.3.3 Scaling of linear velocity data . 104
8.3.4 Scaling of rotational velocity data . 105
8.4 Scaling of torque/force data . 105
8.4.1 Description of FG Scale torque . 105
8.4.2 Percentage scaling of torque/force data . 106
8.4.3 Scaling of force data . 106
8.4.4 Scaling of torque data . 107
8.5 Scaling of acceleration data and jerk data . 107
8.5.1 Description of FG Scale acceleration . 107
8.5.2 No scaling of acceleration data and jerk data . 108
8.5.3 Scaling of linear acceleration/jerk data . 108
8.5.4 Scaling of rotational acceleration/jerk data . 109
8.5.5 Scaling of ramp time . 109
8.6 Polarities . 110
8.7 Scaling of temperature data . 110
9 Status codes of drives . 111
9.1 Overview. 111
9.2 Priority of diagnosis classes . 115
10 Drive classes . 116
10.1 Overview. 116
11 Identification numbers in numerical order . 117

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SIST EN 61800-7-204:2016
– 4 – IEC 61800-7-204:2015 © IEC 2015
12 Description of identification numbers . 132
12.1 IDN S-0-0005 Minimum feedback processing time (t ) . 132
5
12.1.1 Attributes . 132
12.1.2 Description . 132
12.2 IDN S-0-0007 Feedback acquisition capture point (t ). 132
4
12.2.1 Attributes . 132
12.2.2 Description . 132
12.3 IDN S-0-0011 Class 1 diagnostic (C1D) . 133
12.3.1 Attributes . 133
12.3.2 Description . 133
12.4 IDN S-0-0012 Class 2 diagnostic (C2D) . 135
12.4.1 Attributes . 135
12.4.2 Description . 135
12.5 IDN S-0-0013 Class 3 diagnostic (C3D) . 137
12.5.1 Attributes . 137
12.5.2 Description . 137
12.6 IDN S-0-0015 Telegram type . 138
12.6.1 Attributes . 138
12.6.2 Description . 138
12.7 IDN S-0-0016 Configuration list of AT . 140
12.7.1 Attributes . 140
12.7.2 Description . 141
12.8 IDN S-0-0017 IDN-list of all operation data . 141
12.8.1 Attributes . 141
12.8.2 Description . 141
12.9 IDN S-0-0018 IDN-list of operation data for CP2 . 141
12.9.1 Attributes . 141
12.9.2 Description . 142
12.10 IDN S-0-0019 IDN-list of operation data for CP3 . 142
12.10.1 Attributes . 142
12.10.2 Description . 142
12.11 IDN S-0-0020 IDN-list of operation data for CP4 . 142
12.11.1 Attributes . 142
12.11.2 Description . 143
12.12 IDN S-0-0021 IDN-list of invalid operation data for CP2 . 143
12.12.1 Attributes . 143
12.12.2 Description . 143
12.13 IDN S-0-0022 IDN-list of invalid operation data for CP3 . 143
12.13.1 Attributes . 143
12.13.2 Description . 144
12.14 IDN S-0-0023 IDN-list of invalid operation data for CP4 . 144
12.14.1 Attributes . 144
12.14.2 Description . 144
12.15 IDN S-0-0025 IDN-list of all procedure commands . 144
12.15.1 Attributes . 144
12.15.2 Description . 145
12.16 IDN S-0-0026 Configuration list for signal status word . 145
12.16.1 Attributes . 145
12.16.2 Description . 145

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SIST EN 61800-7-204:2016
IEC 61800-7-204:2015 © IEC 2015 – 5 –
12.17 IDN S-0-0027 Configuration list for signal control word . 145
12.17.1 Attributes . 145
12.17.2 Description . 146
12.18 IDN S-0-0030 Manufacturer version . 146
12.18.1 Attributes . 146
12.18.2 Description . 146
12.19 IDN S-0-0031 Hardware version . 146
12.19.1 Attributes . 146
12.19.2 Description . 147
12.20 IDN S-0-0032 Primary operation mode . 147
12.20.1 Attributes . 147
12.20.2 Description . 147
12.21 IDN S-0-0033 Secondary operation mode 1 . 147
12.21.1 Attributes . 147
12.21.2 Description . 148
12.22 IDN S-0-0034 Secondary operation mode 2 . 148
12.22.1 Attributes . 148
12.22.2 Description . 148
12.23 IDN S-0-0035 Secondary operation mode 3 . 149
12.23.1 Attributes . 149
12.23.2 Description . 149
12.24 IDN S-0-0036 Velocity command value . 149
12.24.1 Attributes . 149
12.24.2 Description . 149
12.25 IDN S-0-0037 Additive velocity command value . 150
12.25.1 Attributes . 150
12.25.2 Description . 150
12.26 IDN S-0-0038 Positive velocity limit value . 150
12.26.1 Attributes . 150
12.26.2 Description . 151
12.27 IDN S-0-0039 Negative velocity limit value . 151
12.27.1 Attributes . 151
12.27.2 Description . 151
12.28 IDN S-0-0040 Velocity feedback value 1 . 151
12.28.1 Attributes . 151
12.28.2 Description . 152
12.29 IDN S-0-0041 Homing velocity . 152
12.29.1 Attributes .
...