SANS 61800-7-203-2008 Adjustable speed electrical power drive systems Part 7-203 Generic interface and use of profiles for power drive systems - Profile type 3 specification《可调速电力驱.pdf

1、 Collection of SANS standards in electronic format (PDF) 1. Copyright This standard is available to staff members of companies that have subscribed to the complete collection of SANS standards in accordance with a formal copyright agreement. This document may reside on a CENTRAL FILE SERVER or INTRA

2、NET SYSTEM only. Unless specific permission has been granted, this document MAY NOT be sent or given to staff members from other companies or organizations. Doing so would constitute a VIOLATION of SABS copyright rules. 2. Indemnity The South African Bureau of Standards accepts no liability for any

3、damage whatsoever than may result from the use of this material or the information contain therein, irrespective of the cause and quantum thereof. ISBN 978-0-626-22144-7 SANS 61800-7-203:2008 Edition 1 IEC 61800-7-203:2007 Edition 1SOUTH AFRICAN NATIONAL STANDARD Adjustable speed electrical power dr

4、ive systems Part 7-203: Generic interface and use of profiles for power drive systems Profile type 3 specification This national standard is the identical implementation of IEC 61800-7-203:2007 and is adopted with the permission of the International Electrotechnical Commission. Published by SABS Sta

5、ndards Division 1 Dr Lategan Road Groenkloof Private Bag X191 Pretoria 0001 Tel: +27 12 428 7911 Fax: +27 12 344 1568 www.sabs.co.za SABS This standard may only be used and printed by approved subscription and freemailing clients of the SABS. SANS 61800-7-203:2008 Edition 1 IEC 61800-7-203:2007 Edit

6、ion 1 Table of changes Change No. Date Scope National foreword This South African standard was approved by National Committee SABS TC 69, Power electronics and alternative energy conversion, in accordance with procedures of the SABS Standards Division, in compliance with annex 3 of the WTO/TBT agree

7、ment. This SANS document was published in November 2008. This standard may only be used and printed by approved subscription and freemailing clients of the SABS. IEC 61800-7-203 Edition 1.0 2007-11 INTERNATIONAL STANDARD Adjustable speed electrical power drive systems Part 7-203: Generic interface a

8、nd use of profiles for power drive systems Profile type 3 specification INTERNATIONAL ELECTROTECHNICAL COMMISSION XJ ICS 29.200; 35.100.05 PRICE CODE ISBN 2-8318-9377-1 SANS 61800-7-203:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 2 618

9、00-7-203 IEC:2007(E) CONTENTS FOREWORD.10 INTRODUCTION.12 1 Scope.15 2 Normative references .15 3 Terms, definitions and abbreviatiated terms .16 3.1 Terms and definitions 16 3.2 Abbreviated terms .20 4 General 21 4.1 Background.21 4.2 Requirements22 4.3 Goals of the PROFIdrive Profile 22 5 Data typ

10、es22 5.1 Data types overview 22 5.2 Standard data types 23 5.3 Profile-specific data types .23 5.3.1 General .23 5.3.2 Normalised value: N2, N424 5.3.3 Normalised value (variable normalisation): X2, X4.24 5.3.4 Fixed point value: E2.25 5.3.5 Fixed point value: C4.25 5.3.6 Bit sequence: V2 .26 5.3.7

11、Nibble: L226 5.3.8 Time constant: T2, T426 5.3.9 Time constant: D2 .27 5.3.10 Reciprocal time constant: R2.27 6 Specifications.27 6.1 Integration of drives in automation systems.27 6.1.1 General .27 6.1.2 Base Model .27 6.1.3 Drive Model .35 6.1.4 P-Device communication model.39 6.1.5 Application Mo

12、del and Application Classes40 6.2 Parameter model.46 6.2.1 Parameter definition 46 6.2.2 Global and Local Parameters.58 6.2.3 Base Mode Parameter Access.59 6.3 Drive control application process.78 6.3.1 General Axis type Drive Object architecture.78 6.3.2 Control and Status words 81 6.3.3 Operating

13、modes and State Machine .87 6.3.4 DO IO Data .103 6.3.5 Dynamic Servo Control (DSC) .114 6.3.6 Position feedback interface118 6.3.7 Periphery.140 6.3.8 Warnings, messages, faults, diagnostics .141 SANS 61800-7-203:2008This standard may only be used and printed by approved subscription and freemailin

14、g clients of the SABS.61800-7-203 IEC:2007(E) 3 6.3.9 Identification150 6.3.10 Drive reset (power-on reset) 153 6.3.11 Operation priority of parameters and control priority 155 6.3.12 User data reliability157 6.3.13 Specified DO functions for the Application Classes161 6.4 Parameter Definition163 6.

15、4.1 PROFIdrive Parameter listed by Function 163 6.4.2 PROFIdrive Parameter listed by number167 6.5 Integration of Drives in Process Technology (VIK-NAMUR) .176 6.5.1 General .176 6.5.2 Commands and Checkback Signals.177 6.5.3 State diagrams 179 6.5.4 Inevitable line interruption and external interlo

16、ck .181 6.5.5 Standard telegram.182 Bibliography184 Figure 1 Structure of IEC 61800-714 Figure 2 PROFIdrive Devices and there relationship 28 Figure 3 General Communication Model of a PROFIdrive Automation System .29 Figure 4 The PROFIdrive Device (consists of one or several Functional Objects).30 F

17、igure 5 Hierarchical order in the Object Model .31 Figure 6 PROFIdrive Base Model contains the “Application Layer” and “Communication Layer”.32 Figure 7 Typical use case for Clock Synchronous Operation33 Figure 8 General Model for Clock Synchronous Operation .34 Figure 9 Base Model State Machine.35

18、Figure 10 General Drive Unit model .36 Figure 11 General Drive Object architecture 37 Figure 12 Principle functional model of an Axis type Drive Object 37 Figure 13 Classes of PROFIdrive P-Devices 38 Figure 14 Classes of PROFIdrive Drive Units.39 Figure 15 Overview about the available Communication

19、Services between the PROFIdrive Devices .39 Figure 16 Application Class 1 41 Figure 17 Application Class 2 42 Figure 18 Application Class 3 43 Figure 19 Application Class 4 44 Figure 20 Application Class 5 45 Figure 21 Application Class 6 46 Figure 22 Example overview of global and local parameters

20、of a Multi-Axis/Modular Drive Unit .59 Figure 23 Byte order for Words and Double words .60 Figure 24 Data flow for Base Mode Parameter Access.67 Figure 25 General functional elements of the PROFIdrive Axis type DO.79 Figure 26 Functional block diagram of the PROFIdrive Axis type DO .80 SANS 61800-7-

21、203:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 4 61800-7-203 IEC:2007(E) Figure 27 General state diagram for all operating modes .89 Figure 28 General functionality of a PROFIdrive Axis DO with Application Class 1 functionality 91 Fig

22、ure 29 Speed setpoint channel for use in Application Class 1 and 492 Figure 30 General functionality of a PROFIdrive Axis DO with Application Class 4 functionality 93 Figure 31 Reduced speed setpoint channel for use in Application Class 4 (optional)94 Figure 32 General functionality of a PROFIdrive

23、Axis DO with Application Class 3 functionality 95 Figure 33 Functionality of the Motion Controller in the Program submode 96 Figure 34 Functionality of the Motion Controller in the MDI submode .97 Figure 35 State diagram of the positioning mode in Program-submode 99 Figure 36 State diagram of the po

24、sitioning mode in MDI-submode .100 Figure 37 Homing Procedure: Home Position Set.101 Figure 38 Homing Procedure: Abortion by the controller 101 Figure 39 Traversing Task Active.102 Figure 40 Change of the traversing tasks immediately .102 Figure 41 Example for configuring a telegram 111 Figure 42 St

25、ructure of the position control circuit based on the velocity setpoint interface without DSC .114 Figure 43 Structure of the position control circuit based on the velocity setpoint interface with DSC115 Figure 44 Example of the sensor interface (Sensor-1: two actual values/Sensor-2: one actual value

26、) 119 Figure 45 Actual value format, example 1 123 Figure 46 Actual value format, example 2 123 Figure 47 Actual value format, example 3 123 Figure 48 Actual value format, example 4 124 Figure 49 Actual value format, example 5 124 Figure 50 Actual value format, example 6 124 Figure 51 Actual value f

27、ormat, example 7 124 Figure 52 Actual value format, example 8 125 Figure 53 State diagram of the position feedback interface with designations of the states and transitions130 Figure 54 Acknowledgement of acknowledgeable sensor error.135 Figure 55 Acknowledgement of unacknowledgeable sensor error.13

28、6 Figure 56 Timing diagram: Measurement on the fly sequence 1 137 Figure 57 Timing diagram: Measurement on the fly sequence 2 138 Figure 58 Timing diagram: Reference mark search 139 Figure 59 Overview about the diagnostic mechanisms of PROFIdrive 141 Figure 60 Working of the warning mechanism 142 Fi

29、gure 61 Overview about the fault buffer mechanism143 Figure 62 Fault acknowledgement for the fault buffer mechanism 144 Figure 63 Processing of the fault messages in the fault buffer mechanism.145 Figure 64 Fault buffer (subsequent system) with example147 SANS 61800-7-203:2008This standard may only

30、be used and printed by approved subscription and freemailing clients of the SABS.61800-7-203 IEC:2007(E) 5 Figure 65 Fault number list with example.148 Figure 66 Drive reset: Direct initiation (P972 = 1).155 Figure 67 Example: Long term Sign-Of-Life failure of the controller158 Figure 68 Example: Te

31、mporary failure of the controller LS (negative deviation) 158 Figure 69 Example: Temporary failure of the controller LS (positive deviation; double step) .158 Figure 70 Example: Permanent failure of the DO LS 159 Figure 71 Example: Temporary failure of the DO LS (negative deviation).160 Figure 72 Ex

32、ample: Temporary failure of the DO LS (positive deviation; double step) 160 Figure 73 Value of the DO Sign-Of-Life failure counter (axis-specific) with respect to the transferred controller Sign-Of-Life.161 Figure 74 Functionality and Interfaces for drive integration according to VIK-NAMUR 176 Figur

33、e 75 Principle structure of the drive interface according to VIK-NAMUR guideline.177 Figure 76 Speed setpoint channel for VIK-NAMUR process technology operating mode 180 Figure 77 Process technology operating mode, control word 1 bit 15 and status word 1 bit 10,11,13,14.181 Figure 78 Process technol

34、ogy operating mode, inevitable line interruption and external interlock 182 Table 1 Standard data types 23 Table 2 Profile specific data types .23 Table 3 N2, N4-Range of values 24 Table 4 N2, N4-Coding 24 Table 5 X2, X4-Range of values.25 Table 6 X2, X4-Coding (example x=12/28).25 Table 7 E2-Range

35、of values.25 Table 8 E2-Coding.25 Table 9 C4-Range of values.26 Table 10 V2-Coding .26 Table 11 L2-Coding .26 Table 12 T2, T4-Range of values .26 Table 13 D2-Range of values.27 Table 14 R2-Range of values.27 Table 15 Application Classes.40 Table 16 Parameter definition 46 Table 17 Parameter descript

36、ion elements 47 Table 18 Parameter description element “Identifier (ID)“48 Table 19 Parameter description element “variable attribute“ 48 Table 20 Variable index and conversion index for SI units .49 Table 21 Conversion values for the conversion index (SI units)53 Table 22 Variable index and convers

37、ion index for US units 54 Table 23 Conversion values for the conversion index (US units) 55 SANS 61800-7-203:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 6 61800-7-203 IEC:2007(E) Table 24 Parameter Description Elements “IO Data Referen

38、ce Value/IO Data Normalisation“ 57 Table 25 Text array for parameter description57 Table 26 Text array for the data type Boolean58 Table 27 Text array for data type V2 (bit sequence).58 Table 28 Base mode parameter request.61 Table 29 Base mode parameter response61 Table 30 Permissible combinations

39、consisting of attribute, number of elements and subindex.64 Table 31 Coding of the fields in parameter request/parameter response of Base Mode Parameter Access .64 Table 32 Error numbers in Base Mode parameter responses .65 Table 33 General State machine for the Parameter Manager Processing.67 Table

40、 34 Sequence 1: Parameter request 68 Table 35 Sequence 1: Parameter response positive with data of data type Word .68 Table 36 Sequence 1: Parameter response positive with data of data type Double word .69 Table 37 Sequence 1: Parameter response, negative 69 Table 38 Sequence 2: Parameter request 69

41、 Table 39 Sequence 2: Parameter response, positive69 Table 40 Sequence 2: Parameter response, negative 70 Table 41 Sequence 3: Parameter request 70 Table 42 Sequence 3: Parameter response, positive70 Table 43 Sequence 3: Parameter response, negative 70 Table 44 Sequence 4: Parameter request 71 Table

42、 45 Sequence 4: Parameter response, positive71 Table 46 Sequence 4: Parameter response, negative 71 Table 47 Sequence 5: Parameter request 71 Table 48 Sequence 5: Parameter response, positive72 Table 49 Sequence 5: Parameter response, negative 72 Table 50 Sequence 6: Parameter request 72 Table 51 Se

43、quence 6: Parameter response (+): all partial accesses OK.73 Table 52 Sequence 6: Parameter response (-): first and third partial access OK, second partial access erroneous.73 Table 53 Sequence 7: Parameter request 73 Table 54 Sequence 7: Parameter response (+): all partial accesses OK.74 Table 55 S

44、equence 7: Parameter response (-): first and third partial access OK, second partial access erroneous.74 Table 56 Sequence 8: Parameter request 75 Table 57 Sequence 8: Parameter response positive with data of the data type word (for example ID)75 Table 58 Sequence 8: Parameter response positive with

45、 text.75 Table 59 Sequence 8: Parameter response, negative 75 Table 60 Sequence 9: Parameter request 76 Table 61 Sequence 9: Parameter response, positive76 SANS 61800-7-203:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-203 IEC:200

46、7(E) 7 Table 62 Sequence 9: Parameter response, negative 76 Table 63 Sequence 10: Parameter request 77 Table 64 Sequence 10: Parameter response, positive77 Table 65 Sequence 10: Parameter response, negative 77 Table 66 Sequence 11: Request of values, description and text in one request77 Table 67 Se

47、quence 11: Parameter response (+): all partial accesses OK.78 Table 68 Overview on the assignment of the bits of control word 1 81 Table 69 Detailed assignment of the common control word 1 bits (STW1) for speed control/positioning.82 Table 70 Detailed assignment of the special control word 1 bits (S

48、TW1) for speed control mode.83 Table 71 Detailed assignment of the special control word 1 bits (STW1) for the positioning mode.83 Table 72 Overview on the assignment of the bits of control word 2 84 Table 73 Overview on the assignment of the bits of status word 184 Table 74 Detailed assignment of the common status word 1 bits (ZSW1) for the speed control /positioning mode85 Table 75 Detailed assignment of the special status word 1 bits (ZSW1) for the speed control mode.86 Table 76 Detailed assignment of the special status word 1 bits (