{"id":252456,"date":"2024-10-19T16:40:04","date_gmt":"2024-10-19T16:40:04","guid":{"rendered":"https:\/\/pdfstandards.shop\/product\/uncategorized\/bs-en-61800-7-2022016\/"},"modified":"2024-10-25T11:59:22","modified_gmt":"2024-10-25T11:59:22","slug":"bs-en-61800-7-2022016","status":"publish","type":"product","link":"https:\/\/pdfstandards.shop\/product\/publishers\/bsi\/bs-en-61800-7-2022016\/","title":{"rendered":"BS EN 61800-7-202:2016"},"content":{"rendered":"

IEC 61800-7-202:2015 specifies profile type 2 (CIP Motion TM<\/sup>) 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.<\/p>\n

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PDF Pages<\/th>\nPDF Title<\/th>\n<\/tr>\n
6<\/td>\nEnglish
CONTENTS <\/td>\n<\/tr>\n
14<\/td>\nFOREWORD <\/td>\n<\/tr>\n
16<\/td>\nINTRODUCTION
0.1 General <\/td>\n<\/tr>\n
19<\/td>\n0.2 Patent declaration
Figures
Figure\u00a01 \u2013 Structure of IEC\u00a061800-7 <\/td>\n<\/tr>\n
21<\/td>\n1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions <\/td>\n<\/tr>\n
29<\/td>\n3.2 Abbreviated terms
4 Overview
4.1 General <\/td>\n<\/tr>\n
30<\/td>\n4.2 Control modes
4.2.1 General
4.2.2 Control methods <\/td>\n<\/tr>\n
31<\/td>\n4.2.3 Control nomenclature
4.2.4 Position control
Figure\u00a02 \u2013 Open loop position control <\/td>\n<\/tr>\n
32<\/td>\n4.2.5 Velocity control
Figure\u00a03 \u2013 Closed loop position control <\/td>\n<\/tr>\n
33<\/td>\nFigure\u00a04 \u2013 Open loop velocity control
Figure\u00a05 \u2013 Closed loop velocity control <\/td>\n<\/tr>\n
34<\/td>\n4.2.6 Acceleration control
4.2.7 Torque control
Figure\u00a06 \u2013 Acceleration control <\/td>\n<\/tr>\n
35<\/td>\n4.2.8 No Control
Figure\u00a07 \u2013 Torque control
Figure\u00a08 \u2013 No Control (Feedback Only) <\/td>\n<\/tr>\n
36<\/td>\n5 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\u00a01 \u2013 Data types <\/td>\n<\/tr>\n
37<\/td>\n6.1.2 Object description
Figure\u00a09 \u2013 Object Model for a CIP Motion device
Table\u00a02 \u2013 Objects present in a CIP Motion device <\/td>\n<\/tr>\n
38<\/td>\n6.2 How objects affect behavior
6.3 Defining object interfaces
Table\u00a03 \u2013 Motion Device Axis Object content by Device Type
Table\u00a04 \u2013 Object effect on behavior <\/td>\n<\/tr>\n
39<\/td>\n6.4 I\/O connection messages
6.4.1 General
6.4.2 CIP Motion I\/O Connection
Figure\u00a010 \u2013 CIP Motion I\/O Connection model
Table\u00a05 \u2013 Object interfaces <\/td>\n<\/tr>\n
40<\/td>\nFigure\u00a011 \u2013 CIP Motion I\/O Connection channels <\/td>\n<\/tr>\n
41<\/td>\nFigure\u00a012 \u2013 Controller-to-Device Connection format (Connection Point 2) <\/td>\n<\/tr>\n
42<\/td>\nFigure\u00a013 \u2013 Device-to-Controller Connection format (Connection Point 2) <\/td>\n<\/tr>\n
43<\/td>\n6.4.3 Controller-to-Device Connection
Figure\u00a014 \u2013 CIP Motion Controller-to-Device Connection format
Figure\u00a015 \u2013 Connection Header
Figure\u00a016 \u2013 Connection Format <\/td>\n<\/tr>\n
44<\/td>\nFigure\u00a017 \u2013 Connection Header <\/td>\n<\/tr>\n
45<\/td>\nTable\u00a06 \u2013 Time Data Set <\/td>\n<\/tr>\n
47<\/td>\nFigure\u00a018 \u2013 Instance Data Block
Figure\u00a019 \u2013 Instance Data Header <\/td>\n<\/tr>\n
48<\/td>\nFigure\u00a020 \u2013 Cyclic Data Block
Figure\u00a021 \u2013 Control Mode
Figure\u00a022 \u2013 Feedback Mode <\/td>\n<\/tr>\n
49<\/td>\nTable\u00a07 \u2013 Axis Control
Table\u00a08 \u2013 Control Status <\/td>\n<\/tr>\n
50<\/td>\nTable\u00a09 \u2013 Command Data Set
Table\u00a010 \u2013 Command Data Element to Motion Device Axis Object attribute mapping <\/td>\n<\/tr>\n
51<\/td>\nTable\u00a011 \u2013 Actual Data Set
Table\u00a012 \u2013 Actual Data Element to Motion Device Axis Object attribute Mapping <\/td>\n<\/tr>\n
52<\/td>\nTable\u00a013 \u2013 Status Data Set
Table\u00a014 \u2013 Command Control <\/td>\n<\/tr>\n
53<\/td>\nTable\u00a015 \u2013 Command Target Update vs. Update Period Ratio <\/td>\n<\/tr>\n
54<\/td>\nFigure\u00a023 \u2013 Cyclic Write Data Block
Figure\u00a024 \u2013 Cyclic Write Data Block example <\/td>\n<\/tr>\n
55<\/td>\nFigure\u00a025 \u2013 Event Data Block
Table\u00a016 \u2013 Basic Event Cycle <\/td>\n<\/tr>\n
57<\/td>\nTable\u00a017 \u2013 Extended Event Cycle <\/td>\n<\/tr>\n
59<\/td>\nTable\u00a018 \u2013 Basic Event Cycle with Auto-rearm <\/td>\n<\/tr>\n
61<\/td>\nTable\u00a019 \u2013 Registration Data Set <\/td>\n<\/tr>\n
62<\/td>\nFigure\u00a026 \u2013 Service Data Block
Table\u00a020 \u2013 Home Data Set
Table\u00a021 \u2013 Watch Data Set <\/td>\n<\/tr>\n
63<\/td>\n6.4.4 Device-to-Controller Connection
Figure\u00a027 \u2013 CIP Motion Device-to-Controller Connection format
Figure\u00a028 \u2013 Connection Header <\/td>\n<\/tr>\n
64<\/td>\nFigure\u00a029 \u2013 Connection Header <\/td>\n<\/tr>\n
65<\/td>\nFigure\u00a030 \u2013 Node Fault\/Alarm <\/td>\n<\/tr>\n
66<\/td>\nFigure\u00a031 \u2013 Adjustment of actual position data based on Device Time Stamp <\/td>\n<\/tr>\n
67<\/td>\nFigure\u00a032 \u2013 Instance Data Block
Figure\u00a033 \u2013 Instance Data Header
Figure\u00a034 \u2013 Cyclic Data Block <\/td>\n<\/tr>\n
68<\/td>\nTable\u00a022 \u2013 Axis Response <\/td>\n<\/tr>\n
69<\/td>\nFigure\u00a035 \u2013 Cyclic Read Data Block
Figure\u00a036 \u2013 Cyclic Read Data Block example <\/td>\n<\/tr>\n
70<\/td>\nFigure\u00a037 \u2013 Event Data Block <\/td>\n<\/tr>\n
71<\/td>\nTable\u00a023 \u2013 Event Type <\/td>\n<\/tr>\n
72<\/td>\n6.4.5 Fixed Motion I\/O connection format
Figure\u00a038 \u2013 Service Data Block <\/td>\n<\/tr>\n
73<\/td>\n6.4.6 CIP Motion I\/O Connection timing model
Figure\u00a039 \u2013 Fixed Controller-to-Device Connection format (fixed size = 16 bytes)
Figure\u00a040 \u2013 Fixed Device-to-Controller Connection format (fixed size = 16 bytes) <\/td>\n<\/tr>\n
74<\/td>\nFigure\u00a041 \u2013 CIP Motion 1-Cycle timing model <\/td>\n<\/tr>\n
76<\/td>\nFigure\u00a042 \u2013 CIP Motion 2-Cycle timing model <\/td>\n<\/tr>\n
77<\/td>\nFigure\u00a043 \u2013 CIP Motion 3-Cycle timing model <\/td>\n<\/tr>\n
78<\/td>\nFigure\u00a044 \u2013 Controller-to-Device Connection timing with fine interpolation <\/td>\n<\/tr>\n
80<\/td>\nFigure\u00a045 \u2013 Controller-to-Device Connection timing with extrapolation <\/td>\n<\/tr>\n
81<\/td>\nFigure\u00a046 \u2013 Use of Time Stamp to adjust actual position to the controller\u2019s timebase <\/td>\n<\/tr>\n
83<\/td>\nFigure\u00a047 \u2013 Coordination of two drives with different Update Periods <\/td>\n<\/tr>\n
84<\/td>\nFigure\u00a048 \u2013 Coordination of multiple drive axes in case of delayed Controller-to-Device Connection packets <\/td>\n<\/tr>\n
85<\/td>\nFigure\u00a049 \u2013 Propagation of a step change in time
Table\u00a024 \u2013 Propagation of a step change in time (example 1) <\/td>\n<\/tr>\n
87<\/td>\nTable\u00a025 \u2013 Propagation of a step change in time (example 2) <\/td>\n<\/tr>\n
89<\/td>\n6.5 Device startup procedure
6.5.1 General
6.5.2 Motion I\/O Connection creation <\/td>\n<\/tr>\n
90<\/td>\nFigure\u00a050 \u2013 Configuration Block Format Revision 1 (Connection Point 81) <\/td>\n<\/tr>\n
91<\/td>\nFigure\u00a051 \u2013 Configuration Block Format Revision 2 (Connection Point 82) <\/td>\n<\/tr>\n
92<\/td>\n6.5.3 Motion Device Axis Object configuration
Figure\u00a052 \u2013 Typical initial C-to-D connection data block
Figure\u00a053 \u2013 Typical initial D-to-C connection data block
Figure\u00a054 \u2013 Typical contents of first C-to-D class attribute configuration packet <\/td>\n<\/tr>\n
93<\/td>\nFigure\u00a055 \u2013 Typical response to first C-to-D class configuration packet
Figure\u00a056 \u2013 Typical contents of first C-to-D axis instance configuration packet <\/td>\n<\/tr>\n
94<\/td>\n6.5.4 Time Synchronization
Figure\u00a057 \u2013 Typical response to first C-to-D axis configuration packet
Figure\u00a058 \u2013 Typical contents of C-to-D Time Sync service request packet <\/td>\n<\/tr>\n
95<\/td>\nFigure\u00a059 \u2013 Group Sync of CIP Motion devices <\/td>\n<\/tr>\n
96<\/td>\n6.6 Device visualisation
Table\u00a026 \u2013 CIP Motion visualisation components <\/td>\n<\/tr>\n
97<\/td>\n6.7 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\u00a027 \u2013 Motion Device Axis Object revision history <\/td>\n<\/tr>\n
98<\/td>\n7.1.4 Motion Device Axis Object abstraction
Figure\u00a060 \u2013 Object components for CIP Motion control architecture <\/td>\n<\/tr>\n
99<\/td>\n7.1.5 Motion Control Axis Object
7.1.6 Device control classification <\/td>\n<\/tr>\n
100<\/td>\n7.1.7 Required vs. Optional in implementation
Table\u00a028 \u2013 Example for instance attribute implementation vs. Device Function Code <\/td>\n<\/tr>\n
102<\/td>\nTable\u00a029 \u2013 Instance attribute implementation vs. Device Function Code <\/td>\n<\/tr>\n
111<\/td>\n7.2 Class attributes
7.2.1 General <\/td>\n<\/tr>\n
112<\/td>\nTable\u00a030 \u2013 Class attributes for the Motion Device Axis Object <\/td>\n<\/tr>\n
115<\/td>\n7.2.2 Semantics
Table\u00a031 \u2013 Node Control bit definitions <\/td>\n<\/tr>\n
116<\/td>\nTable\u00a032 \u2013 Node Status bit definitions <\/td>\n<\/tr>\n
117<\/td>\nTable\u00a033 \u2013 Node Fault Code definitions <\/td>\n<\/tr>\n
118<\/td>\n7.3 Instance attributes
7.3.1 General
Table\u00a034 \u2013 Node Alarm Code definitions <\/td>\n<\/tr>\n
120<\/td>\n7.3.2 Motion Control configuration attributes
Table\u00a035 \u2013 Dynamic Units vs. Feedback Mode
Table\u00a036 \u2013 Motion Control configuration attributes <\/td>\n<\/tr>\n
121<\/td>\n7.3.3 Motion Scaling attributes
Table\u00a037 \u2013Control Mode enumeration definitions
Table\u00a038 \u2013 Control Method enumeration definitions <\/td>\n<\/tr>\n
122<\/td>\nTable\u00a039 \u2013 Motion Scaling attributes <\/td>\n<\/tr>\n
124<\/td>\nTable\u00a040 \u2013 Motion Unit selection rules <\/td>\n<\/tr>\n
125<\/td>\nTable\u00a041 \u2013 Signal attributes affected by Motion Polarity <\/td>\n<\/tr>\n
127<\/td>\n7.3.4 Connection Data attributes
Table\u00a042 \u2013 Directional Limit attributes affected by Motion Polarity <\/td>\n<\/tr>\n
128<\/td>\nTable\u00a043 \u2013 Connection Data attributes <\/td>\n<\/tr>\n
130<\/td>\nTable\u00a044 \u2013 Actual Data Set value determination <\/td>\n<\/tr>\n
131<\/td>\nFigure\u00a061 \u2013 Command Control Word field
Table\u00a045 \u2013 Command Data Set value determination
Table\u00a046 \u2013 Command Target Update enumeration definition <\/td>\n<\/tr>\n
132<\/td>\nTable\u00a047 \u2013 Command Position Data Type enumeration definition
Table\u00a048 \u2013 Status Data Set bit definitions <\/td>\n<\/tr>\n
133<\/td>\n7.3.5 Motor attributes
Table\u00a049 \u2013 Registration Event Data format
Table\u00a050 \u2013 Home Event Data format
Table\u00a051 \u2013 Watch Event Data format <\/td>\n<\/tr>\n
134<\/td>\nFigure\u00a062 \u2013 IEEE\u00a0Std\u00a0112 per phase motor model
Table\u00a052 \u2013 General Motor Info attributes <\/td>\n<\/tr>\n
135<\/td>\nTable\u00a053 \u2013 General Motor Configuration attributes <\/td>\n<\/tr>\n
138<\/td>\nTable\u00a054 \u2013 General PM Motor Configuration attributes <\/td>\n<\/tr>\n
139<\/td>\nTable\u00a055 \u2013 General Rotary Motor Configuration attributes <\/td>\n<\/tr>\n
140<\/td>\nTable\u00a056 \u2013 General Linear Motor Configuration attributes <\/td>\n<\/tr>\n
141<\/td>\nTable\u00a057 \u2013 Rotary PM Motor Configuration attributes
Table\u00a058 \u2013 Linear PM Motor Configuration attributes <\/td>\n<\/tr>\n
142<\/td>\nTable\u00a059 \u2013 Induction Motor Configuration attributes <\/td>\n<\/tr>\n
143<\/td>\nTable\u00a060 \u2013 Load Transmission and Actuator Configuration attributes <\/td>\n<\/tr>\n
144<\/td>\n7.3.6 Feedback attributes
Table\u00a061 \u2013 Feedback Types abbreviations
Table\u00a062 \u2013 Logical Feedback Channel Control functions <\/td>\n<\/tr>\n
145<\/td>\nTable\u00a063 \u2013 Logical Feedback Channel rules <\/td>\n<\/tr>\n
146<\/td>\nTable\u00a064 \u2013 General Feedback Info attributes
Table\u00a065 \u2013 General Feedback Signal attributes <\/td>\n<\/tr>\n
147<\/td>\nTable\u00a066 \u2013 Feedback Configuration attributes <\/td>\n<\/tr>\n
153<\/td>\n7.3.7 Event Capture attributes
Table\u00a067 \u2013 Feedback Mode enumeration definitions <\/td>\n<\/tr>\n
154<\/td>\nTable\u00a068 \u2013 Event attributes <\/td>\n<\/tr>\n
156<\/td>\nFigure\u00a063 \u2013 Event Checking Control Word field
Table\u00a069 \u2013 Event Checking Control bit definitions <\/td>\n<\/tr>\n
157<\/td>\nFigure\u00a064 \u2013 Event Checking Status word field <\/td>\n<\/tr>\n
158<\/td>\nTable\u00a070 \u2013 Event Checking Status bit definitions <\/td>\n<\/tr>\n
159<\/td>\n7.3.8 Command reference generation attributes
Table\u00a071 \u2013 Command Generator Signal attributes <\/td>\n<\/tr>\n
161<\/td>\nTable\u00a072 \u2013 Command Generator Configuration attributes <\/td>\n<\/tr>\n
162<\/td>\n7.3.9 Control mode attributes <\/td>\n<\/tr>\n
163<\/td>\nTable\u00a073 \u2013 Position Loop Signal attributes <\/td>\n<\/tr>\n
164<\/td>\nTable\u00a074 \u2013 Position Loop Configuration attributes <\/td>\n<\/tr>\n
166<\/td>\nTable\u00a075 \u2013 Velocity Loop Signal attributes <\/td>\n<\/tr>\n
167<\/td>\nTable\u00a076 \u2013 Velocity Loop Configuration attributes <\/td>\n<\/tr>\n
169<\/td>\nTable\u00a077 \u2013 Acceleration Signal attributes
Table\u00a078 \u2013 Acceleration Configuration attributes <\/td>\n<\/tr>\n
170<\/td>\nTable\u00a079 \u2013 Torque\/Force Control Signal attributes <\/td>\n<\/tr>\n
171<\/td>\nTable\u00a080 \u2013 Torque\/Force Control Configuration attributes <\/td>\n<\/tr>\n
173<\/td>\nTable\u00a081 \u2013 Current Control Signal attributes <\/td>\n<\/tr>\n
175<\/td>\nTable\u00a082 \u2013 Current Control Configuration attributes <\/td>\n<\/tr>\n
179<\/td>\nTable\u00a083 \u2013 Frequency Control Signal attributes
Table\u00a084 \u2013 Frequency Control Configuration attributes <\/td>\n<\/tr>\n
180<\/td>\n7.3.10 Stopping & Braking attributes
Table\u00a085 \u2013 Drive Output attributes <\/td>\n<\/tr>\n
181<\/td>\nTable\u00a086 \u2013 Stopping\/Braking attributes <\/td>\n<\/tr>\n
184<\/td>\nTable\u00a087 \u2013 Stopping Action enumeration definitions <\/td>\n<\/tr>\n
186<\/td>\nFigure\u00a065 \u2013 Brake Control Sequence (Category 0 Stop) <\/td>\n<\/tr>\n
187<\/td>\nFigure\u00a066 \u2013 Brake Control Sequence (Category 1 Stop) <\/td>\n<\/tr>\n
188<\/td>\nFigure\u00a067 \u2013 Brake Control Sequence (Category 2 Stop)
Table\u00a088 \u2013 Proving sub-feature attribute dependencies <\/td>\n<\/tr>\n
189<\/td>\nFigure\u00a068 \u2013 Drive Enable sequence with Proving feature <\/td>\n<\/tr>\n
190<\/td>\n7.3.11 DC Bus Control attributes
Figure\u00a069 \u2013 Drive Disable sequence with Proving feature <\/td>\n<\/tr>\n
191<\/td>\nTable\u00a089 \u2013 DC Bus Control attributes <\/td>\n<\/tr>\n
194<\/td>\n7.3.12 Power and thermal management attributes
Table\u00a090 \u2013 Power and Thermal Management Status attributes <\/td>\n<\/tr>\n
196<\/td>\nTable\u00a091 \u2013 Power and Thermal Management Configuration attributes <\/td>\n<\/tr>\n
197<\/td>\n7.3.13 Axis Status attributes <\/td>\n<\/tr>\n
198<\/td>\nTable\u00a092 \u2013 Axis Status attributes <\/td>\n<\/tr>\n
199<\/td>\nTable\u00a093 \u2013 Axis Status bit definitions <\/td>\n<\/tr>\n
202<\/td>\nTable\u00a094 \u2013 Axis Status bit vs. Axis State <\/td>\n<\/tr>\n
203<\/td>\n7.3.14 Exception, fault, and alarm attributes
Table\u00a095 \u2013 Stopping Action vs. Stop Category
Table\u00a096 \u2013 Axis I\/O Status bit definitions <\/td>\n<\/tr>\n
204<\/td>\nTable\u00a097 \u2013 Exception, Fault and Alarm attributes <\/td>\n<\/tr>\n
206<\/td>\nTable\u00a098 \u2013 Standard Exception Table <\/td>\n<\/tr>\n
209<\/td>\n7.3.15 Fault and alarm Log attributes <\/td>\n<\/tr>\n
211<\/td>\nTable\u00a099 \u2013 Fault and Alarm Log attributes <\/td>\n<\/tr>\n
214<\/td>\n7.3.16 Exception limit attributes
Table\u00a0100 \u2013 Exception Factory Limit Info attributes <\/td>\n<\/tr>\n
215<\/td>\nTable\u00a0101 \u2013 Exception User Limit Configuration attributes <\/td>\n<\/tr>\n
217<\/td>\n7.3.17 Axis exception action configuration attribute
Table\u00a0102 \u2013 Axis Exception Action Configuration attribute <\/td>\n<\/tr>\n
218<\/td>\nTable\u00a0103 \u2013 Axis Exception Action definitions <\/td>\n<\/tr>\n
219<\/td>\n7.3.18 Initialization fault attributes <\/td>\n<\/tr>\n
220<\/td>\n7.3.19 Start inhibit attributes
Table\u00a0104 \u2013 Initialization Fault attributes
Table\u00a0105 \u2013 Standard Initialization Fault Table <\/td>\n<\/tr>\n
221<\/td>\n7.3.20 APR fault attributes
Table\u00a0106 \u2013 Start Inhibit attributes
Table\u00a0107 \u2013 Standard Start Inhibit Table <\/td>\n<\/tr>\n
222<\/td>\nTable\u00a0108 \u2013 APR Fault attributes <\/td>\n<\/tr>\n
223<\/td>\n7.3.21 Axis statistical attributes
7.3.22 Axis info attributes
Table\u00a0109 \u2013 Standard APR Fault Table
Table\u00a0110 \u2013 Axis Statistical attributes <\/td>\n<\/tr>\n
224<\/td>\n7.3.23 General purpose I\/O attributes
Table\u00a0111 \u2013 Axis Info attributes <\/td>\n<\/tr>\n
225<\/td>\nTable\u00a0112 \u2013 Drive General Purpose I\/O attributes <\/td>\n<\/tr>\n
226<\/td>\n7.3.24 Local Mode attributes
7.3.25 Axis Safety attributes
Table\u00a0113 \u2013 Local Mode Configuration attributes <\/td>\n<\/tr>\n
227<\/td>\n7.4 Common services
7.4.1 Supported services
Table\u00a0114 \u2013 Axis Safety Status attributes <\/td>\n<\/tr>\n
228<\/td>\n7.4.2 Service specific data
Table\u00a0115 \u2013 Motion Device Axis Object \u2013 Common Services
Table\u00a0116 \u2013 Group_Sync Request Data Structure <\/td>\n<\/tr>\n
229<\/td>\nTable\u00a0117 \u2013 Group_Sync Response Data Structure <\/td>\n<\/tr>\n
230<\/td>\n7.5 Object specific services
7.5.1 Supported services
7.5.2 Service specific data
Table\u00a0118 \u2013 Motion Device Axis Object \u2013 Object Specific Services <\/td>\n<\/tr>\n
231<\/td>\nFigure\u00a070 \u2013 Get_Axis_Attributes_List Request rormat <\/td>\n<\/tr>\n
232<\/td>\nFigure\u00a071 \u2013 Get_Axis_Attributes_List Response format
Figure\u00a072 \u2013 Get_Axis_Attributes_List Response \u2013 Single 4-byte attribute
Figure\u00a073 \u2013 Get_Axis_Attributes_List Response \u2013 Single 2-byte attribute <\/td>\n<\/tr>\n
233<\/td>\nFigure\u00a074 \u2013 Get_Axis_Attributes_List Response \u2013 Byte attribute array
Figure\u00a075 \u2013 Get_Axis_Attributes_List Response \u2013 Two Dimensional attribute array
Figure\u00a076 \u2013 Get_Axis_Attributes_List Response \u2013 Error example <\/td>\n<\/tr>\n
234<\/td>\nFigure\u00a077 \u2013 Set_Axis_Attributes_List Request format
Figure\u00a078 \u2013 Set_Axis_Attributes_List Request \u2013 Single 4-byte attribute <\/td>\n<\/tr>\n
235<\/td>\nFigure\u00a079 \u2013 Set_Axis_Attributes_List Request \u2013 Single 2-byte attribute
Figure\u00a080 \u2013 Set_Axis_Attributes_List Request \u2013 2-byte attribute array
Figure\u00a081 \u2013 Set_Axis_Attributes_List Request \u2013 Two dimensional attribute array
Figure\u00a082 \u2013 Set_Axis_Attributes_List Response format <\/td>\n<\/tr>\n
236<\/td>\nFigure\u00a083 \u2013 Set_Cyclic_Write_List Request format
Figure\u00a084 \u2013 Set_Cyclic_Write_List Response format <\/td>\n<\/tr>\n
237<\/td>\nFigure\u00a085 \u2013 Set_Cyclic_Read_List Request format
Figure\u00a086 \u2013 Set_Cyclic_Read_List Response format <\/td>\n<\/tr>\n
238<\/td>\nTable\u00a0119 \u2013 Run_Motor_Test Request structure <\/td>\n<\/tr>\n
239<\/td>\nTable\u00a0120 \u2013 Get_Motor_Test_Data measured by Test Type
Table\u00a0121 \u2013 Get_Motor_Test_Data Request structure (optional) <\/td>\n<\/tr>\n
240<\/td>\nTable\u00a0122 \u2013 Get_Motor_Test_Data Response standard structure (Motor Type = Induction)
Table\u00a0123 \u2013 Get_Motor_Test_Data Response standard structure (Motor Type = SPM) <\/td>\n<\/tr>\n
241<\/td>\nTable\u00a0124 \u2013 Get_Motor_Test_Data Response standard structure (Motor Type = IPM)
Table\u00a0125 \u2013 Run_Inertia_Test Request structure <\/td>\n<\/tr>\n
242<\/td>\nTable\u00a0126 \u2013 Get_Inertia_Test_Data Response structure <\/td>\n<\/tr>\n
243<\/td>\nTable\u00a0127 \u2013 Run_Hookup_Test Request structure <\/td>\n<\/tr>\n
244<\/td>\nTable\u00a0128 \u2013 Get_Hookup_Test_Data measured by Test Type
Table\u00a0129 \u2013 Get_Hookup_Test_Data Response structure <\/td>\n<\/tr>\n
245<\/td>\n7.6 Behavior
7.6.1 State model
Figure\u00a087 \u2013 Motion Device Axis Object State Model <\/td>\n<\/tr>\n
246<\/td>\nTable\u00a0130 \u2013 Axis State Machine transitions <\/td>\n<\/tr>\n
247<\/td>\nFigure\u00a088 \u2013 Motion Device Axis Object State Model for Feedback Only
Table\u00a0131 \u2013 Axis State Machine conditions <\/td>\n<\/tr>\n
248<\/td>\nFigure\u00a089 \u2013 Motion Device Axis Object State Model for Converter
Table\u00a0132 \u2013 Axis State Machine transitions (Feedback Only) <\/td>\n<\/tr>\n
249<\/td>\nTable\u00a0133 \u2013 Axis State Machine transitions (Converter) <\/td>\n<\/tr>\n
250<\/td>\nTable\u00a0134 \u2013 Axis Control Request code
Table\u00a0135 \u2013 Axis Response Acknowledge codes <\/td>\n<\/tr>\n
251<\/td>\nTable\u00a0136 \u2013 Completion criteria for requested operation
Table\u00a0137 \u2013 Possible error conditions for requested operation <\/td>\n<\/tr>\n
252<\/td>\nTable\u00a0138 \u2013 Successful Axis Control Request Cycle
Table\u00a0139 \u2013 Unsuccessful Axis Control Request Cycle <\/td>\n<\/tr>\n
253<\/td>\nTable\u00a0140 \u2013 Pending Axis Control Request Cycle <\/td>\n<\/tr>\n
254<\/td>\nTable\u00a0141 \u2013 Cancel Request Cycle <\/td>\n<\/tr>\n
256<\/td>\n7.6.2 State behavior
Table\u00a0142 \u2013 Redefine Position Reference Cycle <\/td>\n<\/tr>\n
259<\/td>\nTable\u00a0143 \u2013 Running State \u2013 Configurable attributes <\/td>\n<\/tr>\n
263<\/td>\n7.6.3 Fault and alarm behavior <\/td>\n<\/tr>\n
265<\/td>\n7.6.4 Start Inhibit behavior
7.6.5 Visualization behavior <\/td>\n<\/tr>\n
266<\/td>\nTable\u00a0144 \u2013 Axis state mapping to Identity Object with LED behavior <\/td>\n<\/tr>\n
267<\/td>\nTable\u00a0145 \u2013 CIP Motion Device seven-segment display behavior <\/td>\n<\/tr>\n
268<\/td>\nTable\u00a0146 \u2013 CIP Motion multi-character alphanumeric display behavior <\/td>\n<\/tr>\n
270<\/td>\n7.6.6 Command generation behavior
Table\u00a0147 \u2013 Multi-axis multi-character alphanumeric display behavior <\/td>\n<\/tr>\n
271<\/td>\nFigure\u00a090 \u2013 Command Generator <\/td>\n<\/tr>\n
275<\/td>\n7.6.7 Feedback interface behavior <\/td>\n<\/tr>\n
276<\/td>\nFigure\u00a091 \u2013 Feedback Channels 1 and 2 <\/td>\n<\/tr>\n
277<\/td>\n7.6.8 Event Capture Behavior
Figure\u00a092 \u2013 Event Capture Functionality <\/td>\n<\/tr>\n
278<\/td>\n7.6.9 Control Mode behavior <\/td>\n<\/tr>\n
279<\/td>\nFigure\u00a093 \u2013 No Control (Feedback Only) <\/td>\n<\/tr>\n
280<\/td>\nFigure\u00a094 \u2013 Closed Loop Position Control <\/td>\n<\/tr>\n
282<\/td>\nFigure\u00a095 \u2013 Closed Loop Velocity Control <\/td>\n<\/tr>\n
284<\/td>\nFigure\u00a096 \u2013 Open Loop Frequency Control <\/td>\n<\/tr>\n
286<\/td>\nFigure\u00a097 \u2013 Acceleration Control
Figure\u00a098 \u2013 Torque Control <\/td>\n<\/tr>\n
290<\/td>\nFigure\u00a099 \u2013 Closed Loop Current Vector Control <\/td>\n<\/tr>\n
292<\/td>\nBibliography <\/td>\n<\/tr>\n<\/table>\n","protected":false},"excerpt":{"rendered":"

Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 2 specification<\/b><\/p>\n\n\n\n\n
Published By<\/td>\nPublication Date<\/td>\nNumber of Pages<\/td>\n<\/tr>\n
BSI<\/b><\/a><\/td>\n2016<\/td>\n296<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"featured_media":252458,"template":"","meta":{"rank_math_lock_modified_date":false,"ep_exclude_from_search":false},"product_cat":[2641],"product_tag":[],"class_list":{"0":"post-252456","1":"product","2":"type-product","3":"status-publish","4":"has-post-thumbnail","6":"product_cat-bsi","8":"first","9":"instock","10":"sold-individually","11":"shipping-taxable","12":"purchasable","13":"product-type-simple"},"_links":{"self":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product\/252456","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product"}],"about":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/types\/product"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/media\/252458"}],"wp:attachment":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/media?parent=252456"}],"wp:term":[{"taxonomy":"product_cat","embeddable":true,"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product_cat?post=252456"},{"taxonomy":"product_tag","embeddable":true,"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product_tag?post=252456"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}