BS EN 61800-7-202:2016 – TC:2020 Edition
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Tracked Changes. 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 | 2020 | 684 |
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 |
|---|---|
| 394 | English CONTENTS |
| 402 | FOREWORD |
| 404 | INTRODUCTION 0.1 General |
| 407 | 0.2 Patent declaration Figures Figure 1 – Structure of IEC 61800-7 |
| 409 | 1 Scope 2 Normative references 3 Terms, definitions and abbreviated terms 3.1 Terms and definitions |
| 417 | 3.2 Abbreviated terms 4 Overview 4.1 General |
| 418 | 4.2 Control modes 4.2.1 General 4.2.2 Control methods |
| 419 | 4.2.3 Control nomenclature 4.2.4 Position control Figure 2 – Open loop position control |
| 420 | 4.2.5 Velocity control Figure 3 – Closed loop position control |
| 421 | Figure 4 – Open loop velocity control Figure 5 – Closed loop velocity control |
| 422 | 4.2.6 Acceleration control 4.2.7 Torque control Figure 6 – Acceleration control |
| 423 | 4.2.8 No Control Figure 7 – Torque control Figure 8 – No Control (Feedback Only) |
| 424 | 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 |
| 425 | 6.1.2 Object description Figure 9 – Object Model for a CIP Motion device Table 2 – Objects present in a CIP Motion device |
| 426 | 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 |
| 427 | 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 |
| 428 | Figure 11 – CIP Motion I/O Connection channels |
| 429 | Figure 12 – Controller-to-Device Connection format (Connection Point 2) |
| 430 | Figure 13 – Device-to-Controller Connection format (Connection Point 2) |
| 431 | 6.4.3 Controller-to-Device Connection Figure 14 – CIP Motion Controller-to-Device Connection format Figure 15 – Connection Header Figure 16 – Connection Format |
| 432 | Figure 17 – Connection Header |
| 433 | Table 6 – Time Data Set |
| 435 | Figure 18 – Instance Data Block Figure 19 – Instance Data Header |
| 436 | Figure 20 – Cyclic Data Block Figure 21 – Control Mode Figure 22 – Feedback Mode |
| 437 | Table 7 – Axis Control Table 8 – Control Status |
| 438 | Table 9 – Command Data Set Table 10 – Command Data Element to Motion Device Axis Object attribute mapping |
| 439 | Table 11 – Actual Data Set Table 12 – Actual Data Element to Motion Device Axis Object attribute Mapping |
| 440 | Table 13 – Status Data Set Table 14 – Command Control |
| 441 | Table 15 – Command Target Update vs. Update Period Ratio |
| 442 | Figure 23 – Cyclic Write Data Block Figure 24 – Cyclic Write Data Block example |
| 443 | Figure 25 – Event Data Block Table 16 – Basic Event Cycle |
| 445 | Table 17 – Extended Event Cycle |
| 447 | Table 18 – Basic Event Cycle with Auto-rearm |
| 449 | Table 19 – Registration Data Set |
| 450 | Figure 26 – Service Data Block Table 20 – Home Data Set Table 21 – Watch Data Set |
| 451 | 6.4.4 Device-to-Controller Connection Figure 27 – CIP Motion Device-to-Controller Connection format Figure 28 – Connection Header |
| 452 | Figure 29 – Connection Header |
| 453 | Figure 30 – Node Fault/Alarm |
| 454 | Figure 31 – Adjustment of actual position data based on Device Time Stamp |
| 455 | Figure 32 – Instance Data Block Figure 33 – Instance Data Header Figure 34 – Cyclic Data Block |
| 456 | Table 22 – Axis Response |
| 457 | Figure 35 – Cyclic Read Data Block Figure 36 – Cyclic Read Data Block example |
| 458 | Figure 37 – Event Data Block |
| 459 | Table 23 – Event Type |
| 460 | 6.4.5 Fixed Motion I/O connection format Figure 38 – Service Data Block |
| 461 | 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) |
| 462 | Figure 41 – CIP Motion 1-Cycle timing model |
| 464 | Figure 42 – CIP Motion 2-Cycle timing model |
| 465 | Figure 43 – CIP Motion 3-Cycle timing model |
| 466 | Figure 44 – Controller-to-Device Connection timing with fine interpolation |
| 468 | Figure 45 – Controller-to-Device Connection timing with extrapolation |
| 469 | Figure 46 – Use of Time Stamp to adjust actual position to the controller’s timebase |
| 471 | Figure 47 – Coordination of two drives with different Update Periods |
| 472 | Figure 48 – Coordination of multiple drive axes in case of delayed Controller-to-Device Connection packets |
| 473 | Figure 49 – Propagation of a step change in time Table 24 – Propagation of a step change in time (example 1) |
| 475 | Table 25 – Propagation of a step change in time (example 2) |
| 477 | 6.5 Device startup procedure 6.5.1 General 6.5.2 Motion I/O Connection creation |
| 478 | Figure 50 – Configuration Block Format Revision 1 (Connection Point 81) |
| 479 | Figure 51 – Configuration Block Format Revision 2 (Connection Point 82) |
| 480 | 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 |
| 481 | 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 |
| 482 | 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 |
| 483 | Figure 59 – Group Sync of CIP Motion devices |
| 484 | 6.6 Device visualisation Table 26 – CIP Motion visualisation components |
| 485 | 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 |
| 486 | 7.1.4 Motion Device Axis Object abstraction Figure 60 – Object components for CIP Motion control architecture |
| 487 | 7.1.5 Motion Control Axis Object 7.1.6 Device control classification |
| 488 | 7.1.7 Required vs. Optional in implementation Table 28 – Example for instance attribute implementation vs. Device Function Code |
| 490 | Table 29 – Instance attribute implementation vs. Device Function Code |
| 499 | 7.2 Class attributes 7.2.1 General |
| 500 | Table 30 – Class attributes for the Motion Device Axis Object |
| 503 | 7.2.2 Semantics Table 31 – Node Control bit definitions |
| 504 | Table 32 – Node Status bit definitions |
| 505 | Table 33 – Node Fault Code definitions |
| 506 | 7.3 Instance attributes 7.3.1 General Table 34 – Node Alarm Code definitions |
| 508 | 7.3.2 Motion Control configuration attributes Table 35 – Dynamic Units vs. Feedback Mode Table 36 – Motion Control configuration attributes |
| 509 | 7.3.3 Motion Scaling attributes Table 37 –Control Mode enumeration definitions Table 38 – Control Method enumeration definitions |
| 510 | Table 39 – Motion Scaling attributes |
| 512 | Table 40 – Motion Unit selection rules |
| 513 | Table 41 – Signal attributes affected by Motion Polarity |
| 515 | 7.3.4 Connection Data attributes Table 42 – Directional Limit attributes affected by Motion Polarity |
| 516 | Table 43 – Connection Data attributes |
| 518 | Table 44 – Actual Data Set value determination |
| 519 | Figure 61 – Command Control Word field Table 45 – Command Data Set value determination Table 46 – Command Target Update enumeration definition |
| 520 | Table 47 – Command Position Data Type enumeration definition Table 48 – Status Data Set bit definitions |
| 521 | 7.3.5 Motor attributes Table 49 – Registration Event Data format Table 50 – Home Event Data format Table 51 – Watch Event Data format |
| 522 | Figure 62 – IEEE Std 112 per phase motor model Table 52 – General Motor Info attributes |
| 523 | Table 53 – General Motor Configuration attributes |
| 526 | Table 54 – General PM Motor Configuration attributes |
| 527 | Table 55 – General Rotary Motor Configuration attributes |
| 528 | Table 56 – General Linear Motor Configuration attributes |
| 529 | Table 57 – Rotary PM Motor Configuration attributes Table 58 – Linear PM Motor Configuration attributes |
| 530 | Table 59 – Induction Motor Configuration attributes |
| 531 | Table 60 – Load Transmission and Actuator Configuration attributes |
| 532 | 7.3.6 Feedback attributes Table 61 – Feedback Types abbreviations Table 62 – Logical Feedback Channel Control functions |
| 533 | Table 63 – Logical Feedback Channel rules |
| 534 | Table 64 – General Feedback Info attributes Table 65 – General Feedback Signal attributes |
| 535 | Table 66 – Feedback Configuration attributes |
| 541 | 7.3.7 Event Capture attributes Table 67 – Feedback Mode enumeration definitions |
| 542 | Table 68 – Event attributes |
| 544 | Figure 63 – Event Checking Control Word field Table 69 – Event Checking Control bit definitions |
| 545 | Figure 64 – Event Checking Status word field |
| 546 | Table 70 – Event Checking Status bit definitions |
| 547 | 7.3.8 Command reference generation attributes Table 71 – Command Generator Signal attributes |
| 549 | Table 72 – Command Generator Configuration attributes |
| 550 | 7.3.9 Control mode attributes |
| 551 | Table 73 – Position Loop Signal attributes |
| 552 | Table 74 – Position Loop Configuration attributes |
| 554 | Table 75 – Velocity Loop Signal attributes |
| 555 | Table 76 – Velocity Loop Configuration attributes |
| 557 | Table 77 – Acceleration Signal attributes Table 78 – Acceleration Configuration attributes |
| 558 | Table 79 – Torque/Force Control Signal attributes |
| 559 | Table 80 – Torque/Force Control Configuration attributes |
| 561 | Table 81 – Current Control Signal attributes |
| 563 | Table 82 – Current Control Configuration attributes |
| 567 | Table 83 – Frequency Control Signal attributes Table 84 – Frequency Control Configuration attributes |
| 568 | 7.3.10 Stopping & Braking attributes Table 85 – Drive Output attributes |
| 569 | Table 86 – Stopping/Braking attributes |
| 572 | Table 87 – Stopping Action enumeration definitions |
| 574 | Figure 65 – Brake Control Sequence (Category 0 Stop) |
| 575 | Figure 66 – Brake Control Sequence (Category 1 Stop) |
| 576 | Figure 67 – Brake Control Sequence (Category 2 Stop) Table 88 – Proving sub-feature attribute dependencies |
| 577 | Figure 68 – Drive Enable sequence with Proving feature |
| 578 | 7.3.11 DC Bus Control attributes Figure 69 – Drive Disable sequence with Proving feature |
| 579 | Table 89 – DC Bus Control attributes |
| 582 | 7.3.12 Power and thermal management attributes Table 90 – Power and Thermal Management Status attributes |
| 584 | Table 91 – Power and Thermal Management Configuration attributes |
| 585 | 7.3.13 Axis Status attributes |
| 586 | Table 92 – Axis Status attributes |
| 587 | Table 93 – Axis Status bit definitions |
| 590 | Table 94 – Axis Status bit vs. Axis State |
| 591 | 7.3.14 Exception, fault, and alarm attributes Table 95 – Stopping Action vs. Stop Category Table 96 – Axis I/O Status bit definitions |
| 592 | Table 97 – Exception, Fault and Alarm attributes |
| 594 | Table 98 – Standard Exception Table |
| 597 | 7.3.15 Fault and alarm Log attributes |
| 599 | Table 99 – Fault and Alarm Log attributes |
| 602 | 7.3.16 Exception limit attributes Table 100 – Exception Factory Limit Info attributes |
| 603 | Table 101 – Exception User Limit Configuration attributes |
| 605 | 7.3.17 Axis exception action configuration attribute Table 102 – Axis Exception Action Configuration attribute |
| 606 | Table 103 – Axis Exception Action definitions |
| 607 | 7.3.18 Initialization fault attributes |
| 608 | 7.3.19 Start inhibit attributes Table 104 – Initialization Fault attributes Table 105 – Standard Initialization Fault Table |
| 609 | 7.3.20 APR fault attributes Table 106 – Start Inhibit attributes Table 107 – Standard Start Inhibit Table |
| 610 | Table 108 – APR Fault attributes |
| 611 | 7.3.21 Axis statistical attributes 7.3.22 Axis info attributes Table 109 – Standard APR Fault Table Table 110 – Axis Statistical attributes |
| 612 | 7.3.23 General purpose I/O attributes Table 111 – Axis Info attributes |
| 613 | Table 112 – Drive General Purpose I/O attributes |
| 614 | 7.3.24 Local Mode attributes 7.3.25 Axis Safety attributes Table 113 – Local Mode Configuration attributes |
| 615 | 7.4 Common services 7.4.1 Supported services Table 114 – Axis Safety Status attributes |
| 616 | 7.4.2 Service specific data Table 115 – Motion Device Axis Object – Common Services Table 116 – Group_Sync Request Data Structure |
| 617 | Table 117 – Group_Sync Response Data Structure |
| 618 | 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 |
| 619 | Figure 70 – Get_Axis_Attributes_List Request rormat |
| 620 | 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 |
| 621 | 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 |
| 622 | Figure 77 – Set_Axis_Attributes_List Request format Figure 78 – Set_Axis_Attributes_List Request – Single 4-byte attribute |
| 623 | 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 |
| 624 | Figure 83 – Set_Cyclic_Write_List Request format Figure 84 – Set_Cyclic_Write_List Response format |
| 625 | Figure 85 – Set_Cyclic_Read_List Request format Figure 86 – Set_Cyclic_Read_List Response format |
| 626 | Table 119 – Run_Motor_Test Request structure |
| 627 | Table 120 – Get_Motor_Test_Data measured by Test Type Table 121 – Get_Motor_Test_Data Request structure (optional) |
| 628 | Table 122 – Get_Motor_Test_Data Response standard structure (Motor Type = Induction) Table 123 – Get_Motor_Test_Data Response standard structure (Motor Type = SPM) |
| 629 | Table 124 – Get_Motor_Test_Data Response standard structure (Motor Type = IPM) Table 125 – Run_Inertia_Test Request structure |
| 630 | Table 126 – Get_Inertia_Test_Data Response structure |
| 631 | Table 127 – Run_Hookup_Test Request structure |
| 632 | Table 128 – Get_Hookup_Test_Data measured by Test Type Table 129 – Get_Hookup_Test_Data Response structure |
| 633 | 7.6 Behavior 7.6.1 State model Figure 87 – Motion Device Axis Object State Model |
| 634 | Table 130 – Axis State Machine transitions |
| 635 | Figure 88 – Motion Device Axis Object State Model for Feedback Only Table 131 – Axis State Machine conditions |
| 636 | Figure 89 – Motion Device Axis Object State Model for Converter Table 132 – Axis State Machine transitions (Feedback Only) |
| 637 | Table 133 – Axis State Machine transitions (Converter) |
| 638 | Table 134 – Axis Control Request code Table 135 – Axis Response Acknowledge codes |
| 639 | Table 136 – Completion criteria for requested operation Table 137 – Possible error conditions for requested operation |
| 640 | Table 138 – Successful Axis Control Request Cycle Table 139 – Unsuccessful Axis Control Request Cycle |
| 641 | Table 140 – Pending Axis Control Request Cycle |
| 642 | Table 141 – Cancel Request Cycle |
| 644 | 7.6.2 State behavior Table 142 – Redefine Position Reference Cycle |
| 647 | Table 143 – Running State – Configurable attributes |
| 651 | 7.6.3 Fault and alarm behavior |
| 653 | 7.6.4 Start Inhibit behavior 7.6.5 Visualization behavior |
| 654 | Table 144 – Axis state mapping to Identity Object with LED behavior |
| 655 | Table 145 – CIP Motion Device seven-segment display behavior |
| 656 | Table 146 – CIP Motion multi-character alphanumeric display behavior |
| 658 | 7.6.6 Command generation behavior Table 147 – Multi-axis multi-character alphanumeric display behavior |
| 659 | Figure 90 – Command Generator |
| 663 | 7.6.7 Feedback interface behavior |
| 664 | Figure 91 – Feedback Channels 1 and 2 |
| 665 | 7.6.8 Event Capture Behavior Figure 92 – Event Capture Functionality |
| 666 | 7.6.9 Control Mode behavior |
| 667 | Figure 93 – No Control (Feedback Only) |
| 668 | Figure 94 – Closed Loop Position Control |
| 670 | Figure 95 – Closed Loop Velocity Control |
| 672 | Figure 96 – Open Loop Frequency Control |
| 674 | Figure 97 – Acceleration Control Figure 98 – Torque Control |
| 678 | Figure 99 – Closed Loop Current Vector Control |
| 680 | Bibliography |
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BS EN 61800-7-202:2016
Adjustable speed electrical power drive systems – Generic interface and use of profiles for power…
