EN 61800-7-204-2016 en Adjustable speed electrical power drive systems - Part 7-204 Generic interface and use of profiles for power drive systems - Profile type 4 specification.pdf

1、BSI Standards PublicationAdjustable speed electrical power drive systemsPart 7-204: Generic interface and use of profiles for power drive systems Profile type 4 specificationBS EN 61800-7-204:2016National forewordThis British Standard is the UK implementation of EN 61800-7-204:2016. Itis identical t

2、o IEC 61800-7-204:2015. It supersedes BS EN 61800-7-204:2008,which will be withdrawn on 12 October 2018.The UK participation in its preparation was entrusted to TechnicalCommittee PEL/22, Power electronics.A list of organizations represented on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 82131 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 61800-7-204:2016EUROPEAN STANDARD NORME EUROPENNE EU

5、ROPISCHE NORM EN 61800-7-204 February 2016 ICS 29.200; 35.100.05 Supersedes EN 61800-7-204:2008 English Version Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use of profiles for power drive systems - Profile type 4 specification (IEC 61800-7-204:2015) Entranemen

6、ts lectriques de puissance vitesse variable - Partie 7-204: Interface gnrique et utilisation de profils pour les entranements lectriques de puissance - Spcification de profil de type 4 (IEC 61800-7-204:2015) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-204: Generisches In

7、terface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 4 (IEC 61800-7-204:2015) 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 61800-7-204:2016 E BS EN 61800-7-204:2016EN 61800-7-204:2016 2 European foreword The text of document 22G/310/FDIS, future edition 2 of IEC 61800-7-204, 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 61800-7-204:2016. 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 61800-7-204:2008. 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 61800-7-204:2015 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 61158 Series NOTE Harmonized as EN 61158 Series. IEC 61499-1:2005 NOTE Harmonized as EN 61499-1:2005 1)(not modified). IEC 61800 Series NOTE H

17、armonized as EN 61800 Series. IEC 61800-7 Series NOTE Harmonized as EN 61800-7 Series. IEC 61800-7-1 NOTE Harmonized as EN 61800-7-1. IEC 61800-7-201 NOTE Harmonized as EN 61800-7-201. IEC 61800-7-202 NOTE Harmonized as EN 61800-7-202. IEC 61800-7-203 NOTE Harmonized as EN 61800-7-203. IEC 61800-7-3

18、01 NOTE Harmonized as EN 61800-7-301. IEC 61800-7-302 NOTE Harmonized as EN 61800-7-302. IEC 61800-7-303 NOTE Harmonized as EN 61800-7-303. IEC 62026-3 NOTE Harmonized as EN 62026-3. 1)Superseded by EN 61499-1:2013 (IEC 61499-1:2012). BS EN 61800-7-204:2016EN 61800-7-204:2016 3 Annex ZA (normative)

19、Normative references 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 ref

20、erences, the latest 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 Standard

21、s listed in this annex is available here: www.cenelec.eu Publication Year Title EN/HD Year IEC 61158-4-16 - Industrial communication networks - Fieldbus specifications - Part 4-16: Data-link layer protocol specification - Type 16 elements EN 61158-4-16 - IEC 61158-4-19 - Industrial communication net

22、works - Fieldbus specifications - Part 4-19: Data-link layer protocol specification - Type 19 elements EN 61158-4-19 - IEC 61158-6-16 - Industrial communication networks - Fieldbus specifications - Part 6-16: Application layer protocol specification - Type 16 elements EN 61158-6-16 - IEC 61800-7-304

23、 2015 Adjustable speed electrical power drive systems - Part 7-304: Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to network technologies EN 61800-7-304 2016 BS EN 61800-7-204:2016 2 IEC 61800-7-204:2015 IEC 2015 CONTENTS FOREWORD . 39 INTRODUCTION . 41 1

24、Scope 45 2 Normative references 45 3 Terms, definitions and abbreviated terms 45 3.1 Terms and definitions 45 3.2 Abbreviated terms . 50 4 General . 51 5 Data types . 51 6 Short description of SERCOS data exchange 51 6.1 General . 51 6.2 Synchronization 52 7 Drive application functions . 52 7.1 Driv

25、e operation modes 52 7.1.1 Operation mode selections 52 7.1.2 Torque/force control 56 7.1.3 Velocity control 58 7.1.4 Position control 61 7.1.5 Interpolation and positioning 64 7.2 Drive state machine 68 7.2.1 Description of the FG Drive state machine . 68 7.2.2 Start-up . 70 7.2.3 Shut-down . 71 7.

26、3 Drive parameters 73 7.3.1 Motor parameters (FG Motor) 73 7.3.2 Amplifier parameters (FG Amplifier) . 73 7.3.3 Motor feedback parameters (FG Motor feedback) 74 7.3.4 External feedback parameters (FG External feedback) 74 7.3.5 Mechanical parameters (FG Mechanics) 74 7.3.6 Power parameters (FG_Power

27、_Limit) 75 7.3.7 Acceleration parameters (FG Acceleration limit) 75 7.3.8 Drive specifically diagnosis parameters (FG Drive diagnosis) 75 7.3.9 Temperature parameters with warning and shut-down diagnostics (FG_Drive_Warning) 76 7.4 Drive synchronous operation (FG Drive synchronous operation) . 76 7.

28、4.1 General . 76 7.4.2 Synchronization of the synchronous spindle to the lead spindle with a fixed angular offset 77 7.4.3 New synchronous position offset after synchronization 79 7.4.4 New speed ratio after synchronization . 79 7.5 Homing . 80 7.5.1 Description of FG Drive homing . 80 7.5.2 Drive c

29、ontrolled homing . 80 7.5.3 Control unit controlled homing . 82 7.5.4 Set absolute position . 86 7.6 Cyclic Marker Detection (FG Cyclic marker detection) . 89 BS EN 61800-7-204:2016IEC 61800-7-204:2015 IEC 2015 3 7.7 Modification of the coordinate system (FG Modify coordinate system) . 90 7.8 Spindl

30、e positioning procedure (FG Position spindle) . 91 7.8.1 General . 91 7.8.2 Start conditions of spindle positioning 91 7.8.3 New position values while the procedure command is active 93 7.8.4 Switching the positioning mode angle position/relative offset while the procedure command is active 93 7.9 V

31、elocity window 94 7.10 Park axis procedure command (FG Park axis). 95 7.11 Move to Positive stop (FG Positive stop) . 96 7.12 Parameter sets and gear ratios . 96 7.12.1 Definition of FG Parameter sets . 96 7.12.2 Switching of parameter sets and gear ratio 97 7.13 Gear engaging procedure command (FG

32、Gear engaging) . 97 7.14 Position switches (FG Position switch) 99 7.14.1 General . 99 7.14.2 Position switch mode . 100 7.14.3 Cam switch mode 100 8 Scaling of operation data . 101 8.1 General . 101 8.2 Scaling of position data . 102 8.2.1 Description of FG Scale position 102 8.2.2 No scaling of po

33、sition data . 102 8.2.3 Scaling of linear position data 102 8.2.4 Scaling of rotational position data 103 8.3 Scaling of velocity data . 103 8.3.1 Description of FG Scale velocity 103 8.3.2 No scaling of velocity data . 104 8.3.3 Scaling of linear velocity data 104 8.3.4 Scaling of rotational veloci

34、ty data 105 8.4 Scaling of torque/force data 105 8.4.1 Description of FG Scale torque 105 8.4.2 Percentage scaling of torque/force data . 106 8.4.3 Scaling of force data 106 8.4.4 Scaling of torque data 107 8.5 Scaling of acceleration data and jerk data . 107 8.5.1 Description of FG Scale accelerati

35、on . 107 8.5.2 No scaling of acceleration data and jerk data . 108 8.5.3 Scaling of linear acceleration/jerk data 108 8.5.4 Scaling of rotational acceleration/jerk data 109 8.5.5 Scaling of ramp time 109 8.6 Polarities 110 8.7 Scaling of temperature data 110 9 Status codes of drives . 111 9.1 Overvi

36、ew. 111 9.2 Priority of diagnosis classes 115 10 Drive classes . 116 10.1 Overview. 116 11 Identification numbers in numerical order 117 BS EN 61800-7-204:2016 4 IEC 61800-7-204:2015 IEC 2015 12 Description of identification numbers . 132 12.1 IDN S-0-0005 Minimum feedback processing time (t5) 132 1

37、2.1.1 Attributes . 132 12.1.2 Description 132 12.2 IDN S-0-0007 Feedback acquisition capture point (t4). 132 12.2.1 Attributes . 132 12.2.2 Description 132 12.3 IDN S-0-0011 Class 1 diagnostic (C1D) 133 12.3.1 Attributes . 133 12.3.2 Description 133 12.4 IDN S-0-0012 Class 2 diagnostic (C2D) 135 12.

38、4.1 Attributes . 135 12.4.2 Description 135 12.5 IDN S-0-0013 Class 3 diagnostic (C3D) 137 12.5.1 Attributes . 137 12.5.2 Description 137 12.6 IDN S-0-0015 Telegram type . 138 12.6.1 Attributes . 138 12.6.2 Description 138 12.7 IDN S-0-0016 Configuration list of AT . 140 12.7.1 Attributes . 140 12.7

39、.2 Description 141 12.8 IDN S-0-0017 IDN-list of all operation data . 141 12.8.1 Attributes . 141 12.8.2 Description 141 12.9 IDN S-0-0018 IDN-list of operation data for CP2 . 141 12.9.1 Attributes . 141 12.9.2 Description 142 12.10 IDN S-0-0019 IDN-list of operation data for CP3 . 142 12.10.1 Attri

40、butes . 142 12.10.2 Description 142 12.11 IDN S-0-0020 IDN-list of operation data for CP4 . 142 12.11.1 Attributes . 142 12.11.2 Description 143 12.12 IDN S-0-0021 IDN-list of invalid operation data for CP2 143 12.12.1 Attributes . 143 12.12.2 Description 143 12.13 IDN S-0-0022 IDN-list of invalid o

41、peration data for CP3 143 12.13.1 Attributes . 143 12.13.2 Description 144 12.14 IDN S-0-0023 IDN-list of invalid operation data for CP4 144 12.14.1 Attributes . 144 12.14.2 Description 144 12.15 IDN S-0-0025 IDN-list of all procedure commands 144 12.15.1 Attributes . 144 12.15.2 Description 145 12.

42、16 IDN S-0-0026 Configuration list for signal status word 145 12.16.1 Attributes . 145 12.16.2 Description 145 BS EN 61800-7-204:2016IEC 61800-7-204:2015 IEC 2015 5 12.17 IDN S-0-0027 Configuration list for signal control word . 145 12.17.1 Attributes . 145 12.17.2 Description 146 12.18 IDN S-0-0030

43、 Manufacturer version 146 12.18.1 Attributes . 146 12.18.2 Description 146 12.19 IDN S-0-0031 Hardware version 146 12.19.1 Attributes . 146 12.19.2 Description 147 12.20 IDN S-0-0032 Primary operation mode 147 12.20.1 Attributes . 147 12.20.2 Description 147 12.21 IDN S-0-0033 Secondary operation mo

44、de 1 147 12.21.1 Attributes . 147 12.21.2 Description 148 12.22 IDN S-0-0034 Secondary operation mode 2 148 12.22.1 Attributes . 148 12.22.2 Description 148 12.23 IDN S-0-0035 Secondary operation mode 3 149 12.23.1 Attributes . 149 12.23.2 Description 149 12.24 IDN S-0-0036 Velocity command value .

45、149 12.24.1 Attributes . 149 12.24.2 Description 149 12.25 IDN S-0-0037 Additive velocity command value 150 12.25.1 Attributes . 150 12.25.2 Description 150 12.26 IDN S-0-0038 Positive velocity limit value . 150 12.26.1 Attributes . 150 12.26.2 Description 151 12.27 IDN S-0-0039 Negative velocity li

46、mit value 151 12.27.1 Attributes . 151 12.27.2 Description 151 12.28 IDN S-0-0040 Velocity feedback value 1 . 151 12.28.1 Attributes . 151 12.28.2 Description 152 12.29 IDN S-0-0041 Homing velocity 152 12.29.1 Attributes . 152 12.29.2 Description 152 12.30 IDN S-0-0042 Homing acceleration . 152 12.3

47、0.1 Attributes . 152 12.30.2 Description 153 12.31 IDN S-0-0043 Velocity polarity parameter . 153 12.31.1 Attributes . 153 12.31.2 Description 153 12.32 IDN S-0-0044 Velocity data scaling type . 154 12.32.1 Attributes . 154 12.32.2 Description 154 12.33 IDN S-0-0045 Velocity data scaling factor . 15

48、5 BS EN 61800-7-204:2016 6 IEC 61800-7-204:2015 IEC 2015 12.33.1 Attributes . 155 12.33.2 Description 155 12.34 IDN S-0-0046 Velocity data scaling exponent 156 12.34.1 Attributes . 156 12.34.2 Description 156 12.35 IDN S-0-0047 Position command value . 156 12.35.1 Attributes . 156 12.35.2 Descriptio

49、n 157 12.36 IDN S-0-0048 Additive position command value 157 12.36.1 Attributes . 157 12.36.2 Description 157 12.37 IDN S-0-0049 Positive position limit value . 158 12.37.1 Attributes . 158 12.37.2 Description 158 12.38 IDN S-0-0050 Negative position limit value . 158 12.38.1 Attributes . 158 12.38.2 Description 159 12.39 IDN S-0-0051 Position feedback value 1 (motor feedback) 159 12.39.1 Attributes . 159 12.39.2 Description 160 12.40 IDN S-0-0052 Reference distance 1 160 12.40.1 Attributes . 160 12.40.2 Description 160