Name: BS EN 61800-7-202:2016 - TC PDF - PDF Standards Store
Price: 280.87 USD
Availability: InStock

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

Published By	Publication Date	Number of Pages
BSI	2020	684


PDF Format	Searchable	Printable	Preview Now

Status	Definitive
Pages	684
Publication Date	2020-02-27
ISBN	978 0 539 11221 4
Standard Number	BS EN 61800-7-202:2016 – TC
Title	Tracked Changes. Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 2 specification
Descriptors	Interfaces (data processing), Automatic control systems, Communication networks, Computer networks, Interfaces, Adjustment, Electric convertors, Power transmission systems, Velocity, Electric motors, Electrical equipment, Electrical transmission systems
Publisher	BSI
Committee	PEL/22
ICS Codes	29.200 - Rectifiers. Converters. Stabilized power supply

BS EN 61800-7-202:2016 – TC:2020 Edition

PDF Catalog

Related products

BS EN 61800-7-202:2016