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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.

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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

Published By	Publication Date	Number of Pages
BSI	2016	296


PDF Format	Searchable	Printable	Preview Now

Status	Definitive
Pages	296
Publication Date	2016-03-31
ISBN	978 0 580 82129 5
Standard Number	BS EN 61800-7-202:2016
Title	Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 2 specification
Identical National Standard Of	EN 61800-7-202:2016, IEC 61800-7-202:2015, EN 62246-2:2008
Replaces	BS EN 61800-7-202:2008
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

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