EN 61800-7-201-2016 en Adjustable speed electrical power drive systems - Part 7-201 Generic interface and use of profiles for power drive systems - Profile type 1 specification.pdf

1、BSI Standards PublicationAdjustable speed electrical power drive systemsPart 7-201: Generic interface and use of profiles for power drive systems Profile type 1 specificationBS EN 61800-7-201:2016National forewordThis British Standard is the UK implementation of EN 61800-7-201:2016. Itis identical t

2、o IEC 61800-7-201:2015. It supersedes BS EN 61800-7-201:2008,which will be withdrawn on 10 October 2018.The UK participation in its preparation was entrusted to TechnicalCommittee PEL/22, Power electronics.A list of organizations represented on this committee can be obtained onrequest to its secreta

3、ry.This publication does not purport to include all the necessary provisions ofa contract. Users are responsible for its correct application. The British Standards Institution 2016.Published by BSI Standards Limited 2016ISBN 978 0 580 82128 8ICS 29.200; 35.100.05Compliance with a British Standard ca

4、nnot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 31 March 2016.Amendments/corrigenda issued since publicationDate Text affectedBRITISH STANDARDBS EN 61800-7-201:2016EUROPEAN STANDARD NORME EUROPENNE EU

5、ROPISCHE NORM EN 61800-7-201 February 2016 ICS 29.200; 35.100.05 Supersedes EN 61800-7-201:2008 English Version Adjustable speed electrical power drive systems - Part 7-201: Generic interface and use of profiles for power drive systems - Profile type 1 specification (IEC 61800-7-201:2015) Entranemen

6、ts lectriques de puissance vitesse variable - Partie 7-201: Interface gnrique et utilisation de profils pour les entranements lectriques de puissance - Spcification de profil de type 1 (IEC 61800-7-201:2015) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-201: Generisches In

7、terface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 1 (IEC 61800-7-201:2015) This European Standard was approved by CENELEC on 2015-12-25. CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for gi

8、ving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CENELEC member. This European Standard exists in thre

9、e official versions (English, French, German). A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CENELEC members are the national elect

10、rotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Rom

11、ania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brusse

12、ls 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members. Ref. No. EN 61800-7-201:2016 E BS EN 61800-7-201:2016EN 61800-7-201:2016 2 European foreword The text of document 22G/307/FDIS, future edition 2 of IEC 61800-7-201, prepared by SC 22G “Adj

13、ustable speed electric drive systems incorporating semiconductor power converters” of IEC/TC 22 “Power electronic systems and equipment“ was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 61800-7-201:2016. The following dates are fixed: latest date by which the document has

14、 to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2016-09-25 latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2018-12-25 This document supersedes EN 61800-7-201:2008. Attention is drawn to

15、 the possibility that some of the elements of this document may be the subject of patent rights. CENELEC and/or CEN shall not be held responsible for identifying any or all such patent rights. Endorsement notice The text of the International Standard IEC 61800-7-201:2015 was approved by CENELEC as a

16、 European Standard without any modification. In the official version, for Bibliography, the following notes have to be added for the standards indicated: IEC 61499-1 NOTE Harmonized as EN 61499-1. IEC 61800 Series NOTE Harmonized as EN 61800 Series. IEC 61800-7-1:2015 NOTE Harmonized as EN 61800-7-1

17、2016 (not modified). IEC 61800-7-202:2015 NOTE Harmonized as EN 61800-7-202:2016 (not modified). IEC 61800-7-203:2015 NOTE Harmonized as EN 61800-7-203:2016 (not modified). IEC 61800-7-204:2015 NOTE Harmonized as EN 61800-7-204:2016 (not modified). IEC 61800-7-302:2015 NOTE Harmonized as EN 61800-7

18、302:2016 (not modified). IEC 61800-7-303:2015 NOTE Harmonized as EN 61800-7-303:2016 (not modified). IEC 61800-7-304:2015 NOTE Harmonized as EN 61800-7-304:2016 (not modified). IEC 61915-1 NOTE Harmonized as EN 61915-1. BS EN 61800-7-201:2016EN 61800-7-201:2016 3 Annex ZA (normative) Normative refe

19、rences to international publications with their corresponding European publications The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the l

20、atest edition of the referenced document (including any amendments) applies. NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies. NOTE 2 Up-to-date information on the latest versions of the European Standards listed in th

21、is annex is available here: www.cenelec.eu Publication Year Title EN/HD Year Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces - Part 4: CANopen EN 50325-4 IEC 61800-7-301 2015 Adjustable speed electrical power drive systems - Part 7-301: Generic interface

22、 and use of profiles for power drive systems - Mapping of profile type 1 to network technologies EN 61800-7-301 2016 CiA 303-2 2012 CANopen recommendation - Part 2: Representation of SI units and prefixes BS EN 61800-7-201:2016 2 IEC 61800-7-201:2015 IEC 2015 CONTENTS FOREWORD . 17 INTRODUCTION . 19

23、 1 Scope 23 2 Normative references 23 3 Terms, definitions and abbreviated terms 23 3.1 Terms and definitions 23 3.2 Abbreviated terms . 27 4 General . 28 4.1 General considerations . 28 4.2 Communication interface. 28 4.3 Object dictionary . 29 5 Data types . 30 5.1 Standard data types 30 5.2 Recor

24、d definitions . 30 6 General object definitions 31 6.1 General . 31 6.2 Communication parameter objects 31 6.3 Additional identification and information objects 32 6.3.1 Object 6402h: Motor type . 32 6.3.2 Object 6403h: Motor catalogue number . 33 6.3.3 Object 6404h: Motor manufacturer . 34 6.3.4 Ob

25、ject 6405h: http motor catalogue address 35 6.3.5 Object 6406h: Motor calibration date . 35 6.3.6 Object 6407h: Motor service period . 36 6.3.7 Object 6503h: Drive catalogue number 36 6.3.8 Object 6505h: http drive catalogue address . 37 7 Error codes and error behavior 37 7.1 Error codes . 37 7.2 E

26、rror behavior . 41 8 Controlling the power drive system 42 8.1 General . 42 8.2 Finite state automaton 42 8.3 Modes of operation . 45 8.4 Detailed object specifications 46 8.4.1 Object 6040h: Controlword 46 8.4.2 Object 6041h: Statusword 47 8.4.3 Object 603Fh: Error code . 49 8.4.4 Object 6007h: Abo

27、rt connection option code 50 8.4.5 Object 605Ah: Quick stop option code . 51 8.4.6 Object 605Bh: Shutdown option code 51 8.4.7 Object 605Ch: Disable operation option code 52 8.4.8 Object 605Dh: Halt option code . 53 8.4.9 Object 605Eh: Fault reaction option code 54 8.4.10 Object 6060h: Modes of oper

28、ation . 54 8.4.11 Object 6061h: Modes of operation display . 56 BS EN 61800-7-201:2016IEC 61800-7-201:2015 IEC 2015 3 8.4.12 Object 6502h: Supported drive modes . 56 9 Factor group 57 9.1 General . 57 9.2 Detailed object definitions . 59 9.2.1 Object 608Fh: Position encoder resolution . 59 9.2.2 Obj

29、ect 6090h: Velocity encoder resolution . 60 9.2.3 Object 6091h: Gear ratio . 61 9.2.4 Object 6092h: Feed constant . 62 9.2.5 Object 6096h: Velocity factor . 64 9.2.6 Object 6097h: Acceleration factor 64 9.2.7 Object 60A2h: Jerk factor 65 9.2.8 Object 607Eh: Polarity . 66 9.2.9 Code table for device

30、profile specific units . 67 9.2.10 Object 60A8h: SI unit position 67 9.2.11 Object 60A9h: SI unit velocity 68 9.2.12 Object 60AAh: SI unit acceleration 69 9.2.13 Object 60ABh: SI unit jerk 70 10 Profile position mode . 70 10.1 General information 70 10.2 Functional description . 71 10.2.1 General .

31、71 10.2.2 Single set-point . 72 10.2.3 Set of set-points 73 10.2.4 Usage of halt bit in conjunction with new set-point bit 74 10.3 General definitions 75 10.4 Use of controlword and statusword . 75 10.5 Detailed object definitions . 76 10.5.1 Object 607Ah: Target position . 76 10.5.2 Object 607Bh: P

32、osition range limit . 77 10.5.3 Object 607Dh: Software position limit 78 10.5.4 Object 607Fh: Max profile velocity . 80 10.5.5 Object 6080h: Max motor speed 81 10.5.6 Object 6081h: Profile velocity 81 10.5.7 Object 6082h: End velocity 82 10.5.8 Object 6083h: Profile acceleration . 82 10.5.9 Object 6

33、084h: Profile deceleration . 83 10.5.10 Object 6085h: Quick stop deceleration. 83 10.5.11 Object 6086h: Motion profile type 84 10.5.12 Object 60A3h: Profile jerk use . 85 10.5.13 Object 60A4h: Profile jerk 85 10.5.14 Object 60C5h: Max acceleration 87 10.5.15 Object 60C6h: Max deceleration 88 11 Homi

34、ng mode 89 11.1 General information 89 11.2 Functional description . 89 11.3 General definitions 90 11.3.1 General . 90 11.3.2 Method 1: Homing on negative limit switch and index pulse . 90 11.3.3 Method 2: Homing on positive limit switch and index pulse 90 BS EN 61800-7-201:2016 4 IEC 61800-7-201:2

35、015 IEC 2015 11.3.4 Method 3 and 4: Homing on positive home switch and index pulse 90 11.3.5 Method 5 and 6: Homing on negative home switch and index pulse . 91 11.3.6 Method 7 to 14: Homing on home switch and index pulse 91 11.3.7 Method 15 and 16: Reserved . 92 11.3.8 Method 17 to 30: Homing witho

36、ut index pulse 92 11.3.9 Method 31 and 32: Reserved . 93 11.3.10 Method 33 and 34: Homing on index pulse 93 11.3.11 Method 35: Homing on current position (obsolete) . 93 11.3.12 Method 36: Reserved for compatibility reasons 93 11.3.13 Method 37: Homing on current position 93 11.4 Use of controlword

37、and statusword . 94 11.5 Detailed object definitions . 94 11.5.1 Object 607Ch: Home offset 94 11.5.2 Object 6098h: Homing method . 95 11.5.3 Object 60E3h: Supported homing methods 96 11.5.4 Object 6099h: Homing speeds . 97 11.5.5 Object 609Ah: Homing acceleration . 98 12 Touch probe functionality. 9

38、9 12.1 Object 60B8h: Touch probe function . 99 12.2 Object 60B9h: Touch probe status 101 12.3 Object 60BAh: Touch probe 1 positive edge 102 12.4 Object 60BBh: Touch probe 1 negative edge 102 12.5 Object 60BCh: Touch probe 2 positive edge . 103 12.6 Object 60BDh: Touch probe 2 negative edge 103 12.7

39、Object 60D0h: Touch probe source . 104 12.8 Touch probe time stamp latch . 105 12.8.1 General . 105 12.8.2 Object 60D1h: Touch probe time stamp 1 positive value 106 12.8.3 Object 60D2h: Touch probe time stamp 1 negative value . 106 12.8.4 Object 60D3h: Touch probe time stamp 2 positive value 107 12.

40、8.5 Object 60D4h: Touch probe time stamp 2 negative value . 107 12.9 Touch probe edge counter for continuous mode 108 12.9.1 General . 108 12.9.2 Object 60D5h: Touch probe 1 positive edge counter 108 12.9.3 Object 60D6h: Touch probe 1 negative edge counter . 108 12.9.4 Object 60D7h: Touch probe 2 po

41、sitive edge counter 109 12.9.5 Object 60D8h: Touch probe 2 negative edge counter . 110 12.10 Timing diagram for touch probe example 110 13 Position control function 112 13.1 General information 112 13.2 Functional description . 112 13.3 Detailed object definitions . 114 13.3.1 Object 6062h: Position

42、 demand value 114 13.3.2 Object 6063h: Position actual internal value 115 13.3.3 Object 6064h: Position actual value . 115 13.3.4 Object 6065h: Following error window . 116 13.3.5 Object 6066h: Following error time out 117 13.3.6 Object 6067h: Position window 117 13.3.7 Object 6068h: Position window

43、 time 118 BS EN 61800-7-201:2016IEC 61800-7-201:2015 IEC 2015 5 13.3.8 Object 60F4h: Following error actual value 118 13.3.9 Object 60FAh: Control effort 119 13.3.10 Object 60FCh: Position demand internal value . 119 13.3.11 Object 60F2h: Positioning option code . 120 14 Interpolated position mode 1

44、23 14.1 General information 123 14.2 Functional description . 125 14.2.1 General . 125 14.2.2 Linear interpolated position mode with several axes 125 14.2.3 Buffer strategies for the interpolated position mode . 127 14.2.4 Interpolated position mode FSA . 128 14.3 General definitions 129 14.4 Use of

45、 controlword and statusword . 129 14.5 Detailed object definitions . 130 14.5.1 Object 60C0h: Interpolation sub mode select . 130 14.5.2 Object 60C1h: Interpolation data record. 131 14.5.3 Object 60C2h: Interpolation time period . 132 14.5.4 Object 60C4h: Interpolation data configuration 133 15 Prof

46、ile velocity mode . 136 15.1 General information 136 15.2 Functional description . 136 15.3 General definitions 137 15.4 Use of controlword and statusword . 137 15.5 Detailed object definitions . 138 15.5.1 Object 6069h: Velocity sensor actual value 138 15.5.2 Object 606Ah: Sensor selection code 139

47、 15.5.3 Object 606Bh: Velocity demand value 139 15.5.4 Object 606Ch: Velocity actual value . 140 15.5.5 Object 606Dh: Velocity window 140 15.5.6 Object 606Eh: Velocity window time 141 15.5.7 Object 606Fh: Velocity threshold . 141 15.5.8 Object 6070h: Velocity threshold time 142 15.5.9 Object 60FFh:

48、Target velocity 142 15.5.10 Object 60F8h: Max slippage 143 16 Profile torque mode . 144 16.1 General information 144 16.2 Functional description . 144 16.3 General definitions 145 16.4 Use of controlword and statusword . 145 16.5 Detailed object definitions . 145 16.5.1 Object 6071h: Target torque 1

49、45 16.5.2 Object 6072h: Max torque 146 16.5.3 Object 60E0h: Positive torque limit value . 146 16.5.4 Object 60E1h: Negative torque limit value . 147 16.5.5 Object 6073h: Max current . 148 16.5.6 Object 6074h: Torque demand . 148 16.5.7 Object 6075h: Motor rated current . 149 16.5.8 Object 6076h: Motor rated torque 149 16.5.9 Object 6077h: Torque actual value 150 BS EN 61800-7-201:2016 6 IEC 61800-7-201:2015 IEC 2015 16.5.10 Object 6078h: Current actual value 150 16.5.11 Object 6079h: DC link circuit voltage . 151 16.5.12 Objec