BS EN 61800-7-202:2016
$215.11
Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 2 specification
| Published By | Publication Date | Number of Pages |
| BSI | 2016 | 296 |
IEC 61800-7-202:2015 specifies profile type 2 (CIP Motion TM) for Power Drive Systems (PDS). Profile type 2 can be mapped onto different communication network technologies. This edition includes the following significant technical changes with respect to the previous edition: a) update of patent information; b) new revision of the Drive Profile and Drive Axis specifications, with multiple clarifications and enhancements.
PDF Catalog
| PDF Pages | PDF Title |
|---|---|
| 6 | English CONTENTS |
| 14 | FOREWORD |
| 16 | INTRODUCTION 0.1 General |
| 19 | 0.2 Patent declaration Figures Figure 1 – Structure of IEC 61800-7 |
| 21 | 1 Scope 2 Normative references 3 Terms, definitions and abbreviated terms 3.1 Terms and definitions |
| 29 | 3.2 Abbreviated terms 4 Overview 4.1 General |
| 30 | 4.2 Control modes 4.2.1 General 4.2.2 Control methods |
| 31 | 4.2.3 Control nomenclature 4.2.4 Position control Figure 2 – Open loop position control |
| 32 | 4.2.5 Velocity control Figure 3 – Closed loop position control |
| 33 | Figure 4 – Open loop velocity control Figure 5 – Closed loop velocity control |
| 34 | 4.2.6 Acceleration control 4.2.7 Torque control Figure 6 – Acceleration control |
| 35 | 4.2.8 No Control Figure 7 – Torque control Figure 8 – No Control (Feedback Only) |
| 36 | 5 Data types 5.1 Data type overview 5.2 Conventions 6 CIP Motion drive profile 6.1 Object model 6.1.1 Object overview Tables Table 1 – Data types |
| 37 | 6.1.2 Object description Figure 9 – Object Model for a CIP Motion device Table 2 – Objects present in a CIP Motion device |
| 38 | 6.2 How objects affect behavior 6.3 Defining object interfaces Table 3 – Motion Device Axis Object content by Device Type Table 4 – Object effect on behavior |
| 39 | 6.4 I/O connection messages 6.4.1 General 6.4.2 CIP Motion I/O Connection Figure 10 – CIP Motion I/O Connection model Table 5 – Object interfaces |
| 40 | Figure 11 – CIP Motion I/O Connection channels |
| 41 | Figure 12 – Controller-to-Device Connection format (Connection Point 2) |
| 42 | Figure 13 – Device-to-Controller Connection format (Connection Point 2) |
| 43 | 6.4.3 Controller-to-Device Connection Figure 14 – CIP Motion Controller-to-Device Connection format Figure 15 – Connection Header Figure 16 – Connection Format |
| 44 | Figure 17 – Connection Header |
| 45 | Table 6 – Time Data Set |
| 47 | Figure 18 – Instance Data Block Figure 19 – Instance Data Header |
| 48 | Figure 20 – Cyclic Data Block Figure 21 – Control Mode Figure 22 – Feedback Mode |
| 49 | Table 7 – Axis Control Table 8 – Control Status |
| 50 | Table 9 – Command Data Set Table 10 – Command Data Element to Motion Device Axis Object attribute mapping |
| 51 | Table 11 – Actual Data Set Table 12 – Actual Data Element to Motion Device Axis Object attribute Mapping |
| 52 | Table 13 – Status Data Set Table 14 – Command Control |
| 53 | Table 15 – Command Target Update vs. Update Period Ratio |
| 54 | Figure 23 – Cyclic Write Data Block Figure 24 – Cyclic Write Data Block example |
| 55 | Figure 25 – Event Data Block Table 16 – Basic Event Cycle |
| 57 | Table 17 – Extended Event Cycle |
| 59 | Table 18 – Basic Event Cycle with Auto-rearm |
| 61 | Table 19 – Registration Data Set |
| 62 | Figure 26 – Service Data Block Table 20 – Home Data Set Table 21 – Watch Data Set |
| 63 | 6.4.4 Device-to-Controller Connection Figure 27 – CIP Motion Device-to-Controller Connection format Figure 28 – Connection Header |
| 64 | Figure 29 – Connection Header |
| 65 | Figure 30 – Node Fault/Alarm |
| 66 | Figure 31 – Adjustment of actual position data based on Device Time Stamp |
| 67 | Figure 32 – Instance Data Block Figure 33 – Instance Data Header Figure 34 – Cyclic Data Block |
| 68 | Table 22 – Axis Response |
| 69 | Figure 35 – Cyclic Read Data Block Figure 36 – Cyclic Read Data Block example |
| 70 | Figure 37 – Event Data Block |
| 71 | Table 23 – Event Type |
| 72 | 6.4.5 Fixed Motion I/O connection format Figure 38 – Service Data Block |
| 73 | 6.4.6 CIP Motion I/O Connection timing model Figure 39 – Fixed Controller-to-Device Connection format (fixed size = 16 bytes) Figure 40 – Fixed Device-to-Controller Connection format (fixed size = 16 bytes) |
| 74 | Figure 41 – CIP Motion 1-Cycle timing model |
| 76 | Figure 42 – CIP Motion 2-Cycle timing model |
| 77 | Figure 43 – CIP Motion 3-Cycle timing model |
| 78 | Figure 44 – Controller-to-Device Connection timing with fine interpolation |
| 80 | Figure 45 – Controller-to-Device Connection timing with extrapolation |
| 81 | Figure 46 – Use of Time Stamp to adjust actual position to the controller’s timebase |
| 83 | Figure 47 – Coordination of two drives with different Update Periods |
| 84 | Figure 48 – Coordination of multiple drive axes in case of delayed Controller-to-Device Connection packets |
| 85 | Figure 49 – Propagation of a step change in time Table 24 – Propagation of a step change in time (example 1) |
| 87 | Table 25 – Propagation of a step change in time (example 2) |
| 89 | 6.5 Device startup procedure 6.5.1 General 6.5.2 Motion I/O Connection creation |
| 90 | Figure 50 – Configuration Block Format Revision 1 (Connection Point 81) |
| 91 | Figure 51 – Configuration Block Format Revision 2 (Connection Point 82) |
| 92 | 6.5.3 Motion Device Axis Object configuration Figure 52 – Typical initial C-to-D connection data block Figure 53 – Typical initial D-to-C connection data block Figure 54 – Typical contents of first C-to-D class attribute configuration packet |
| 93 | Figure 55 – Typical response to first C-to-D class configuration packet Figure 56 – Typical contents of first C-to-D axis instance configuration packet |
| 94 | 6.5.4 Time Synchronization Figure 57 – Typical response to first C-to-D axis configuration packet Figure 58 – Typical contents of C-to-D Time Sync service request packet |
| 95 | Figure 59 – Group Sync of CIP Motion devices |
| 96 | 6.6 Device visualisation Table 26 – CIP Motion visualisation components |
| 97 | 6.7 Ethernet/IP Quality of Service (QoS) 7 Motion Device Axis Object 7.1 General considerations 7.1.1 General 7.1.2 Revision history 7.1.3 Object overview Table 27 – Motion Device Axis Object revision history |
| 98 | 7.1.4 Motion Device Axis Object abstraction Figure 60 – Object components for CIP Motion control architecture |
| 99 | 7.1.5 Motion Control Axis Object 7.1.6 Device control classification |
| 100 | 7.1.7 Required vs. Optional in implementation Table 28 – Example for instance attribute implementation vs. Device Function Code |
| 102 | Table 29 – Instance attribute implementation vs. Device Function Code |
| 111 | 7.2 Class attributes 7.2.1 General |
| 112 | Table 30 – Class attributes for the Motion Device Axis Object |
| 115 | 7.2.2 Semantics Table 31 – Node Control bit definitions |
| 116 | Table 32 – Node Status bit definitions |
| 117 | Table 33 – Node Fault Code definitions |
| 118 | 7.3 Instance attributes 7.3.1 General Table 34 – Node Alarm Code definitions |
| 120 | 7.3.2 Motion Control configuration attributes Table 35 – Dynamic Units vs. Feedback Mode Table 36 – Motion Control configuration attributes |
| 121 | 7.3.3 Motion Scaling attributes Table 37 –Control Mode enumeration definitions Table 38 – Control Method enumeration definitions |
| 122 | Table 39 – Motion Scaling attributes |
| 124 | Table 40 – Motion Unit selection rules |
| 125 | Table 41 – Signal attributes affected by Motion Polarity |
| 127 | 7.3.4 Connection Data attributes Table 42 – Directional Limit attributes affected by Motion Polarity |
| 128 | Table 43 – Connection Data attributes |
| 130 | Table 44 – Actual Data Set value determination |
| 131 | Figure 61 – Command Control Word field Table 45 – Command Data Set value determination Table 46 – Command Target Update enumeration definition |
| 132 | Table 47 – Command Position Data Type enumeration definition Table 48 – Status Data Set bit definitions |
| 133 | 7.3.5 Motor attributes Table 49 – Registration Event Data format Table 50 – Home Event Data format Table 51 – Watch Event Data format |
| 134 | Figure 62 – IEEE Std 112 per phase motor model Table 52 – General Motor Info attributes |
| 135 | Table 53 – General Motor Configuration attributes |
| 138 | Table 54 – General PM Motor Configuration attributes |
| 139 | Table 55 – General Rotary Motor Configuration attributes |
| 140 | Table 56 – General Linear Motor Configuration attributes |
| 141 | Table 57 – Rotary PM Motor Configuration attributes Table 58 – Linear PM Motor Configuration attributes |
| 142 | Table 59 – Induction Motor Configuration attributes |
| 143 | Table 60 – Load Transmission and Actuator Configuration attributes |
| 144 | 7.3.6 Feedback attributes Table 61 – Feedback Types abbreviations Table 62 – Logical Feedback Channel Control functions |
| 145 | Table 63 – Logical Feedback Channel rules |
| 146 | Table 64 – General Feedback Info attributes Table 65 – General Feedback Signal attributes |
| 147 | Table 66 – Feedback Configuration attributes |
| 153 | 7.3.7 Event Capture attributes Table 67 – Feedback Mode enumeration definitions |
| 154 | Table 68 – Event attributes |
| 156 | Figure 63 – Event Checking Control Word field Table 69 – Event Checking Control bit definitions |
| 157 | Figure 64 – Event Checking Status word field |
| 158 | Table 70 – Event Checking Status bit definitions |
| 159 | 7.3.8 Command reference generation attributes Table 71 – Command Generator Signal attributes |
| 161 | Table 72 – Command Generator Configuration attributes |
| 162 | 7.3.9 Control mode attributes |
| 163 | Table 73 – Position Loop Signal attributes |
| 164 | Table 74 – Position Loop Configuration attributes |
| 166 | Table 75 – Velocity Loop Signal attributes |
| 167 | Table 76 – Velocity Loop Configuration attributes |
| 169 | Table 77 – Acceleration Signal attributes Table 78 – Acceleration Configuration attributes |
| 170 | Table 79 – Torque/Force Control Signal attributes |
| 171 | Table 80 – Torque/Force Control Configuration attributes |
| 173 | Table 81 – Current Control Signal attributes |
| 175 | Table 82 – Current Control Configuration attributes |
| 179 | Table 83 – Frequency Control Signal attributes Table 84 – Frequency Control Configuration attributes |
| 180 | 7.3.10 Stopping & Braking attributes Table 85 – Drive Output attributes |
| 181 | Table 86 – Stopping/Braking attributes |
| 184 | Table 87 – Stopping Action enumeration definitions |
| 186 | Figure 65 – Brake Control Sequence (Category 0 Stop) |
| 187 | Figure 66 – Brake Control Sequence (Category 1 Stop) |
| 188 | Figure 67 – Brake Control Sequence (Category 2 Stop) Table 88 – Proving sub-feature attribute dependencies |
| 189 | Figure 68 – Drive Enable sequence with Proving feature |
| 190 | 7.3.11 DC Bus Control attributes Figure 69 – Drive Disable sequence with Proving feature |
| 191 | Table 89 – DC Bus Control attributes |
| 194 | 7.3.12 Power and thermal management attributes Table 90 – Power and Thermal Management Status attributes |
| 196 | Table 91 – Power and Thermal Management Configuration attributes |
| 197 | 7.3.13 Axis Status attributes |
| 198 | Table 92 – Axis Status attributes |
| 199 | Table 93 – Axis Status bit definitions |
| 202 | Table 94 – Axis Status bit vs. Axis State |
| 203 | 7.3.14 Exception, fault, and alarm attributes Table 95 – Stopping Action vs. Stop Category Table 96 – Axis I/O Status bit definitions |
| 204 | Table 97 – Exception, Fault and Alarm attributes |
| 206 | Table 98 – Standard Exception Table |
| 209 | 7.3.15 Fault and alarm Log attributes |
| 211 | Table 99 – Fault and Alarm Log attributes |
| 214 | 7.3.16 Exception limit attributes Table 100 – Exception Factory Limit Info attributes |
| 215 | Table 101 – Exception User Limit Configuration attributes |
| 217 | 7.3.17 Axis exception action configuration attribute Table 102 – Axis Exception Action Configuration attribute |
| 218 | Table 103 – Axis Exception Action definitions |
| 219 | 7.3.18 Initialization fault attributes |
| 220 | 7.3.19 Start inhibit attributes Table 104 – Initialization Fault attributes Table 105 – Standard Initialization Fault Table |
| 221 | 7.3.20 APR fault attributes Table 106 – Start Inhibit attributes Table 107 – Standard Start Inhibit Table |
| 222 | Table 108 – APR Fault attributes |
| 223 | 7.3.21 Axis statistical attributes 7.3.22 Axis info attributes Table 109 – Standard APR Fault Table Table 110 – Axis Statistical attributes |
| 224 | 7.3.23 General purpose I/O attributes Table 111 – Axis Info attributes |
| 225 | Table 112 – Drive General Purpose I/O attributes |
| 226 | 7.3.24 Local Mode attributes 7.3.25 Axis Safety attributes Table 113 – Local Mode Configuration attributes |
| 227 | 7.4 Common services 7.4.1 Supported services Table 114 – Axis Safety Status attributes |
| 228 | 7.4.2 Service specific data Table 115 – Motion Device Axis Object – Common Services Table 116 – Group_Sync Request Data Structure |
| 229 | Table 117 – Group_Sync Response Data Structure |
| 230 | 7.5 Object specific services 7.5.1 Supported services 7.5.2 Service specific data Table 118 – Motion Device Axis Object – Object Specific Services |
| 231 | Figure 70 – Get_Axis_Attributes_List Request rormat |
| 232 | Figure 71 – Get_Axis_Attributes_List Response format Figure 72 – Get_Axis_Attributes_List Response – Single 4-byte attribute Figure 73 – Get_Axis_Attributes_List Response – Single 2-byte attribute |
| 233 | Figure 74 – Get_Axis_Attributes_List Response – Byte attribute array Figure 75 – Get_Axis_Attributes_List Response – Two Dimensional attribute array Figure 76 – Get_Axis_Attributes_List Response – Error example |
| 234 | Figure 77 – Set_Axis_Attributes_List Request format Figure 78 – Set_Axis_Attributes_List Request – Single 4-byte attribute |
| 235 | Figure 79 – Set_Axis_Attributes_List Request – Single 2-byte attribute Figure 80 – Set_Axis_Attributes_List Request – 2-byte attribute array Figure 81 – Set_Axis_Attributes_List Request – Two dimensional attribute array Figure 82 – Set_Axis_Attributes_List Response format |
| 236 | Figure 83 – Set_Cyclic_Write_List Request format Figure 84 – Set_Cyclic_Write_List Response format |
| 237 | Figure 85 – Set_Cyclic_Read_List Request format Figure 86 – Set_Cyclic_Read_List Response format |
| 238 | Table 119 – Run_Motor_Test Request structure |
| 239 | Table 120 – Get_Motor_Test_Data measured by Test Type Table 121 – Get_Motor_Test_Data Request structure (optional) |
| 240 | Table 122 – Get_Motor_Test_Data Response standard structure (Motor Type = Induction) Table 123 – Get_Motor_Test_Data Response standard structure (Motor Type = SPM) |
| 241 | Table 124 – Get_Motor_Test_Data Response standard structure (Motor Type = IPM) Table 125 – Run_Inertia_Test Request structure |
| 242 | Table 126 – Get_Inertia_Test_Data Response structure |
| 243 | Table 127 – Run_Hookup_Test Request structure |
| 244 | Table 128 – Get_Hookup_Test_Data measured by Test Type Table 129 – Get_Hookup_Test_Data Response structure |
| 245 | 7.6 Behavior 7.6.1 State model Figure 87 – Motion Device Axis Object State Model |
| 246 | Table 130 – Axis State Machine transitions |
| 247 | Figure 88 – Motion Device Axis Object State Model for Feedback Only Table 131 – Axis State Machine conditions |
| 248 | Figure 89 – Motion Device Axis Object State Model for Converter Table 132 – Axis State Machine transitions (Feedback Only) |
| 249 | Table 133 – Axis State Machine transitions (Converter) |
| 250 | Table 134 – Axis Control Request code Table 135 – Axis Response Acknowledge codes |
| 251 | Table 136 – Completion criteria for requested operation Table 137 – Possible error conditions for requested operation |
| 252 | Table 138 – Successful Axis Control Request Cycle Table 139 – Unsuccessful Axis Control Request Cycle |
| 253 | Table 140 – Pending Axis Control Request Cycle |
| 254 | Table 141 – Cancel Request Cycle |
| 256 | 7.6.2 State behavior Table 142 – Redefine Position Reference Cycle |
| 259 | Table 143 – Running State – Configurable attributes |
| 263 | 7.6.3 Fault and alarm behavior |
| 265 | 7.6.4 Start Inhibit behavior 7.6.5 Visualization behavior |
| 266 | Table 144 – Axis state mapping to Identity Object with LED behavior |
| 267 | Table 145 – CIP Motion Device seven-segment display behavior |
| 268 | Table 146 – CIP Motion multi-character alphanumeric display behavior |
| 270 | 7.6.6 Command generation behavior Table 147 – Multi-axis multi-character alphanumeric display behavior |
| 271 | Figure 90 – Command Generator |
| 275 | 7.6.7 Feedback interface behavior |
| 276 | Figure 91 – Feedback Channels 1 and 2 |
| 277 | 7.6.8 Event Capture Behavior Figure 92 – Event Capture Functionality |
| 278 | 7.6.9 Control Mode behavior |
| 279 | Figure 93 – No Control (Feedback Only) |
| 280 | Figure 94 – Closed Loop Position Control |
| 282 | Figure 95 – Closed Loop Velocity Control |
| 284 | Figure 96 – Open Loop Frequency Control |
| 286 | Figure 97 – Acceleration Control Figure 98 – Torque Control |
| 290 | Figure 99 – Closed Loop Current Vector Control |
| 292 | Bibliography |
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