BS EN 61800-7-304:2016 – 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. Mapping of profile type 4 to network technologies
| Published By | Publication Date | Number of Pages |
| BSI | 2020 | 202 |
IEC 61800-7-304:2015 specifies the mapping of the profile type 4 (SERCOS) specified in IEC 61800-7-204 onto different network technologies. This edition includes the following significant technical change with respect to the previous edition: Update of mapping specification.
PDF Catalog
| PDF Pages | PDF Title |
|---|---|
| 110 | English CONTENTS |
| 114 | FOREWORD |
| 116 | INTRODUCTION |
| 119 | Figures Figure 1 – Structure of IEC 618007 |
| 120 | 1 Scope 2 Normative references 3 Terms, definitions and abbreviated terms 3.1 Terms and definitions |
| 126 | 3.2 Abbreviated terms 4 General |
| 127 | 5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II) 5.1 Reference to communication standards 5.2 Overview Tables Table 1 – CP16/1 and CP16/2 feature summary |
| 128 | Table 2 – Number of PDSs per network (examples) |
| 129 | 5.3 Physical layer and topology Table 3 – Communication Profile Interoperability within a network |
| 130 | 5.4 Synchronization mechanism 5.4.1 General Figure 2 – Topology |
| 131 | 5.4.2 Handling of command and feedback values Figure 3 – Validity of command values and feedback acquisition time in the PDSs |
| 132 | 5.4.3 Position loop with fine interpolator Figure 4 – Synchronization of cycle times |
| 133 | 5.5 Telegram contents 5.5.1 General Figure 5 – Synchronization of the control loops and the fine interpolator Table 4 – Typical operation data for cyclic transmission |
| 134 | 5.5.2 Data block 5.5.3 Communication function group telegrams Table 5 – Typical data for non-cyclic transmission |
| 135 | 5.5.4 Standard telegrams Table 6 – IDN for choice and parameterisation of telegrams Table 7 – Structure of standard telegram-0 Table 8 – Structure of standard telegram-1 Table 9 – Structure of standard telegram-2 |
| 136 | Table 10 – Structure of standard telegram-3 Table 11 – Structure of standard telegram-4 |
| 137 | 5.5.5 Application telegrams Table 12 – Structure of standard telegram-5 Table 13 – Structure of standard telegram-6 Table 14 – IDN for configuration of MDT |
| 138 | 5.6 Non-cyclic data transfer 5.7 Real-time bits 5.7.1 Functions of real time bits Figure 6 – AT configuration (example) Table 15 – IDN for configuration of AT |
| 139 | Table 16 – IDN for real-time bits Table 17 – Real-time bits assignment IDNs |
| 140 | 5.7.2 Allocation of real-time bits 5.7.3 Possible cases Figure 7 – Function of the real-time bits |
| 141 | Figure 8 – Allocation of IDN ( 0 to the real-time bits |
| 142 | Figure 9 – Allocation of IDN = 0 to the real-time bits |
| 143 | 5.8 Signal control word and signal status word Figure 10 – Allocation of IDN ( 0 to the real-time bits Table 18 – IDN for configuring control and status words |
| 144 | 5.9 Data container Figure 11 – Configuration example of signal status word Table 19 – Data containers IDN |
| 145 | Figure 12 – Data container configuration without acknowledge (slave) |
| 146 | 5.10 Drive shutdown functions Figure 13 – Data container configuration with acknowledge (slave) |
| 147 | 5.11 Communication classes 5.11.1 General Figure 14 – Structure of communication classes |
| 148 | 5.11.2 Communication class A Table 20 – Ring configuration – Timing Table 21 – Ring configuration – Telegram configuration |
| 149 | Table 22 – Ring configuration – Phase run-up Table 23 – Service channel protocol Table 24 – Information & diagnostics |
| 150 | 5.11.3 Communication class B (Extended functions) Table 25 – Communication class A settings Table 26 – Ring configuration – Telegram configuration |
| 151 | 5.11.4 Communication class C (Additional functions) Table 27 – Information & diagnostics Table 28 – Real-time control bits Table 29 – Real-time status bits Table 30 – Communication class B settings |
| 152 | 5.11.5 Communication cycle time granularity 6 Mapping to CP16/3 (SERCOS III) 6.1 Reference to communication standards |
| 153 | 6.2 Overview Table 31 – CP16/3 features summary |
| 154 | 6.3 Physical layer and topology Figure 15 – Topology |
| 155 | 6.4 Synchronization mechanism and telegram content 6.5 Non-cyclic data transfer Figure 16 – Telegram sequence |
| 156 | 6.6 Communication cycles 6.7 Drive classes 6.7.1 General Figure 17 – General communication cycle |
| 157 | 6.7.2 Torque axis Table 32 – Mandatory bit combinations of Drive control Table 33 – Mandatory bit combinations of Drive status |
| 158 | 6.7.3 Velocity axis Table 34 – Supported operation mode Table 35 – Supported torque/force scaling |
| 159 | 6.7.4 Velocity axis with position feedback Table 36 – Supported operation mode Table 37 – Supported velocity scaling |
| 160 | Table 38 – Supported operation mode Table 39 – Supported position polarity |
| 161 | 6.7.5 Position axis Table 40 – Supported velocity scaling Table 41 – Supported position scaling |
| 162 | Table 42 – Supported operation mode Table 43 – Supported position polarity Table 44 – Supported velocity scaling Table 45 – Supported position scaling |
| 163 | 6.7.6 Positioning axis Table 46 – Supported torque/force scaling |
| 164 | Table 47 – Supported operation mode Table 48 – Supported position polarity Table 49 – Supported velocity scaling Table 50 – Supported position scaling |
| 165 | 7 Mapping to EtherCAT 7.1 Reference to communication standards 7.2 Overview Table 51 – Supported torque/force scaling Table 52 – Supported acceleration scaling |
| 166 | 7.3 SoE synchronization 7.3.1 General Table 53 – EtherCAT feature summary Table 54 – Number of PDSs per network (examples) |
| 167 | 7.3.2 CP16 Phase 0-2 7.3.3 CP16 Phase 3-4 7.4 SoE Application Layer Management 7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine Figure 18 – ESM and IEC 61158-4-16 State Machine |
| 168 | 7.4.2 Multiple drives 7.4.3 IDN usage Table 55 – Obsolete IDNs |
| 169 | 7.5 SoE Process Data Mapping Table 56 – Changed IDNs |
| 170 | Table 57 – Status word of drive |
| 171 | Table 58 – Control word for drive |
| 172 | 7.6 SoE Service Channel Services 7.6.1 Overview 7.6.2 SSC Read Table 59 – Mapping of SSC services to EtherCAT services |
| 173 | Figure 19 – Successful SSC Read sequence Figure 20 – Unsuccessful SSC Read sequence |
| 174 | Figure 21 – Successful SSC Fragmented Read sequence Table 60 – SSC Read service |
| 176 | 7.6.3 SSC Write Table 61 – Read SSC Fragment service |
| 177 | Figure 22 – Successful SSC Write sequence Figure 23 – Unsuccessful SSC Write sequence |
| 178 | Figure 24 – Successful SSC Fragmented Write sequence Table 62 – SSC Write service |
| 180 | 7.6.4 SSC Procedure Commands Table 63 – Write SSC Fragment service |
| 181 | Figure 25 – Successful SSC Procedure Command sequence |
| 182 | Figure 26 – Aborted SSC Procedure Command sequence Table 64 – Notify SSC Command Execution service |
| 183 | 7.6.5 SSC Slave Info Figure 27 – Slave Info sequence |
| 184 | 7.7 SoE Coding general Table 65 – SSC Slave Info service |
| 185 | Table 66 – SoE Mailbox protocol |
| 186 | 7.8 SoE Protocol Data Unit Coding 7.8.1 SSC Read |
| 187 | Table 67 – SSC Read request |
| 188 | Table 68 – SSC Read response |
| 189 | Table 69 – Read SSC Fragment request |
| 190 | 7.8.2 SSC Write |
| 191 | Table 70 – SSC Write request |
| 193 | Table 71 – SSC Write response |
| 194 | Table 72 – Write SSC Fragment request |
| 195 | 7.8.3 Notify SSC Command Execution request |
| 196 | 7.8.4 SSC Slave Info Table 73 – Notify SSC Command Execution request |
| 197 | Table 74 – Slave Info request |
| 198 | Bibliography |
