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 978-0-626-21814-0 SANS 61800-7-202:2008 Edition 1 IEC 61800-7-202:2007 Edition 1SOUTH AFRICAN NATIONAL STANDARD Adjustable speed electrical power dr
4、ive systems Part 7-202: Generic interface and use of profiles for power drive systems Profile type 2 specification This national standard is the identical implementation of IEC 61800-7-202:2007 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 61800-7-202:2008 Edition 1 IEC 61800-7-202:2007 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 61800-7-202 Edition 1.0 2007-11 INTERNATIONAL STANDARD Adjustable speed electrical power drive systems Part 7-202: Generic interface a
8、nd use of profiles for power drive systems Profile type 2 specification INTERNATIONAL ELECTROTECHNICAL COMMISSION XJ ICS 29.200; 35.100.05 PRICE CODE ISBN 2-8318-9376-3 SANS 61800-7-202:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 2 618
9、00-7-202 IEC:2007(E) CONTENTS FOREWORD.9 INTRODUCTION.11 1 Scope.14 2 Normative references .14 3 Terms, definitions and abbreviated terms .15 3.1 Terms and definitions 15 3.2 Abbreviated terms .21 4 General 21 4.1 General .21 4.2 Control modes.22 4.2.1 General .22 4.2.2 Control methods 22 4.2.3 Cont
10、rol nomenclature 22 4.2.4 Position Control.23 4.2.5 Velocity Control .24 4.2.6 Acceleration Control 26 4.2.7 Torque Control 26 4.2.8 No Control.27 5 Data types28 5.1 Data type overview28 5.2 Conventions 29 6 CIP Drive Profile.29 6.1 Object model.29 6.1.1 Object overview.29 6.1.2 Object description30
11、 6.2 How objects affect behaviour.30 6.3 Defining object interfaces 30 6.4 I/O Connection messages .31 6.4.1 General .31 6.4.2 CIP Motion I/O connection.31 6.4.3 Controller-to-Device connection.34 6.4.4 Device-to-Controller connection.46 6.4.5 Fixed Device connection format.53 6.4.6 CIP Motion conne
12、ction timing 54 6.5 Drive startup procedure.63 6.5.1 General .63 6.5.2 Motion I/O Connection creation .63 6.5.3 Motion Axis Object configuration .63 6.5.4 Time Synchronisation 64 6.6 Device visualisation.65 6.7 Ethernet Quality of Service (QoS)65 7 Motion Axis Object .66 7.1 General considerations66
13、 7.1.1 General .66 7.1.2 Object overview.66 SANS 61800-7-202:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-202 IEC:2007(E) 3 7.1.3 Motion Axis Object abstraction 66 7.1.4 Motion Control Axis Object 67 7.1.5 Drive control classific
14、ation.67 7.1.6 Required vs. Optional in implementation68 7.2 Class attributes .76 7.2.1 General .76 7.2.2 Semantics .79 7.3 Instance attributes.82 7.3.1 General .82 7.3.2 Motion Control configuration attributes 83 7.3.3 Motor attributes .85 7.3.4 Feedback attributes.92 7.3.5 Event Capture attributes
15、98 7.3.6 Command reference generation attributes .102 7.3.7 Control mode attributes .106 7.3.8 Stopping & Braking attributes 116 7.3.9 DC Bus Control attributes119 7.3.10 Power and thermal management attributes120 7.3.11 Axis Status Attributes 122 7.3.12 Exception, fault, and alarm status attributes
16、 126 7.3.13 Exception limit attributes .131 7.3.14 Exception action configuration attribute .132 7.3.15 Initialisation fault status attributes .134 7.3.16 Start inhibit status attributes 136 7.3.17 Axis statistical attributes137 7.3.18 Axis info attributes.138 7.3.19 General purpose I/O attributes.1
17、38 7.3.20 Local Mode Attributes139 7.4 Common services139 7.4.1 Supported services139 7.4.2 Service specific data .140 7.5 Object specific services.141 7.5.1 Supported services141 7.5.2 Service specific data .142 7.6 Behaviour151 7.6.1 State model .151 7.6.2 State behaviour .154 7.6.3 Fault and alar
18、m behaviour .157 7.6.4 Start Inhibit behaviour .158 7.6.5 Visualization behaviour158 7.6.6 Command generation behaviour 163 7.6.7 Feedback Interface Behavior .166 7.6.8 Event Capture Behavior.169 7.6.9 Control Mode Behaviour 170 Bibliography181 Figure 1 Structure of IEC 61800-713 SANS 61800-7-202:20
19、08This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 4 61800-7-202 IEC:2007(E) Figure 2 Open loop position control .23 Figure 3 Closed loop position control .24 Figure 4 Open loop velocity control25 Figure 5 Closed loop velocity control .25 Figur
20、e 6 Acceleration control .26 Figure 7 Torque control27 Figure 8 No control 28 Figure 9 Object Model for a CIP Motion drive.29 Figure 10 CIP Motion I/O connection model .31 Figure 11 Controller-to-Device Connection Format.32 Figure 12 Device-to-Controller Connection Format.33 Figure 13 CIP Motion I/O
21、 Connection Channels .34 Figure 14 CIP Motion Controller-to-Device Connection Format 34 Figure 15 Connection Header 35 Figure 16 Connection Format.35 Figure 17 Connection Header 36 Figure 18 Instance Data Block .37 Figure 19 Instance Data Header 38 Figure 20 Cyclic Data Header 38 Figure 21 Cyclic Wr
22、ite Data Block43 Figure 22 Event Data Block .43 Figure 23 Service Data Block.45 Figure 24 CIP Motion Controller-to-Device Connection Format 46 Figure 25 Connection Header 46 Figure 26 Connection Header 47 Figure 27 Adjustment of actual position data based on device time stamp .48 Figure 28 Instance
23、Data Block .48 Figure 29 Instance Data Header 49 Figure 30 Cyclic Data Block .49 Figure 31 Cyclic Read Data Block50 Figure 32 Event Data Block .51 Figure 33 Service Data Block.52 Figure 34 Fixed Controller to Device Connection Format (fixed size = 16 bytes) 53 Figure 35 Fixed Device to Controller Co
24、nnection Format (fixed size = 16 bytes) 53 Figure 36 CIP Motion I/O Connection timing model 54 Figure 37 Controller-to-Drive Connection timing with fine interpolation.55 Figure 38 Controller-to-Drive Connection timing with unequal update periods 57 Figure 39 Use of Time Stamp to adjust actual positi
25、on to the controllers timebase58 Figure 40 Coordination of two drives with different Update Periods59 Figure 41 Coordination of multiple drive axes in case of delayed Controller-to- Device Connection packets.60 Figure 42 Propagation of a step change in time .61 Figure 43 Group Sync of CIP Motion dri
26、ves .64 SANS 61800-7-202:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-202 IEC:2007(E) 5 Figure 44 Object components for CIP motion architecture66 Figure 45 Controller Consumed Connection Data Format.79 Figure 46 Controller Produc
27、ed Connection Data Format 80 Figure 47 Control Mode bit field .84 Figure 48 IEEE per phase motor model85 Figure 49 Feedback Configuration bit field.97 Figure 50 Event Checking Control word field100 Figure 51 Event Checking Status word field.101 Figure 52 Interpolation Control word field.105 Figure 5
28、3 Get Axis Attribute List Request Format.142 Figure 54 Get Axis Attribute List Response Format143 Figure 55 Get Axis Attribute List Response Example 1144 Figure 56 Get Axis Attribute List Response Example 2144 Figure 57 Get Axis Attribute List Response Example 3144 Figure 58 Get Axis Attribute List
29、Response Example 4144 Figure 59 Set Axis Attribute List Request Format.145 Figure 60 Set Axis Attribute List Request Example 1.146 Figure 61 Set Axis Attribute List Request Example 2.146 Figure 62 Set Axis Attribute List Request Example 3.146 Figure 63 Set Axis Attribute List Response Format 146 Fig
30、ure 64 Set Cyclic Write List Request Format .147 Figure 65 Set Cyclic Write List Response Format.147 Figure 66 Set Cyclic Read List Request Format .148 Figure 67 Set Cyclic Read List Response Format 148 Figure 68 Motion Axis Object State Model152 Figure 69 Command Generator163 Figure 70 Feedback Cha
31、nnels 1 and 2.167 Figure 71 Feedback Channels 3 and 4.168 Figure 72 Event Capture Functionality .169 Figure 73 No Control (Feedback Only).171 Figure 74 Closed Loop Position Control .172 Figure 75 Closed Loop Velocity Control .174 Figure 76 Open Loop Frequency Control176 Figure 77 Acceleration Contro
32、l.177 Figure 78 Torque Control.178 Figure 79 Closed Loop Current Vector Control.179 Table 1 Data types.28 Table 2 Objects present in a CIP Motion drive device 30 Table 3 Object effect on behavior 30 Table 4 Object interfaces .30 Table 5 Time Data Set .36 Table 6 Axis Control 39 SANS 61800-7-202:2008
33、This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 6 61800-7-202 IEC:2007(E) Table 7 Command Data Set .39 Table 8 Command Data Element to Motion Axis Object Attribute mapping .40 Table 9 Actual Data Set .40 Table 10 Actual Data Element to Motion
34、Axis Object Attribute Mapping .41 Table 11 Status Data Set configuration41 Table 12 Interpolation Control42 Table 13 Axis Response 50 Table 14 Event Type52 Table 15 Propagation of a step change in time (example 1) .61 Table 16 Propagation of a step change in time (example 2) .63 Table 17 CIP Motion
35、visualisation components 65 Table 18 Instance attribute implementation vs. Device Control Code .68 Table 19 Class attributes for the Motion Axis Object 77 Table 20 Node Control bit definitions .80 Table 21 Node Status bit definitions.81 Table 22 Node Faults code definitions .81 Table 23 Node Alarms
36、code definitions 82 Table 24 Dynamic Unit vs. Feedback Configuration .83 Table 25 Motion Control configuration attributes 83 Table 26 Motor Control field enumeration definitions84 Table 27 Control Method field enumeration definitions 84 Table 28 General Motor Info Attributes 86 Table 29 General Moto
37、r Configuration Attributes86 Table 30 General PM Motor Configuration Attributes .89 Table 31 General Rotary Motor Configuration Attributes 89 Table 32 General Linear Motor Configuration Attributes.90 Table 33 Rotary PM Motor Configuration Attributes90 Table 34 Linear PM Motor Configuration Attribute
38、s 91 Table 35 Induction Motor Configuration Attributes91 Table 36 General Feedback Info Attributes 92 Table 37 Feedback Configuration Attributes.93 Table 38 Feedback Selection field enumeration definitions 98 Table 39 Event Attributes.99 Table 40 Event Checking Control bit definitions .100 Table 41
39、Event Checking Status bit definitions.101 Table 42 Command Generator Signal Attributes.102 Table 43 Command Generator Configuration Attributes .103 Table 44 Command Target Update enumeration definition .105 Table 45 Position Loop Signal Attributes106 Table 46 Position Loop Configuration Attributes.1
40、07 Table 47 Velocity Loop Signal Attributes108 Table 48 Velocity Loop Configuration Attributes.108 Table 49 Acceleration Signal Attributes110 SANS 61800-7-202:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-202 IEC:2007(E) 7 Table 5
41、0 Torque/Force Reference Signal Attributes .110 Table 51 Torque/Force Reference Configuration Attributes 111 Table 52 Current Loop Signal Attributes.112 Table 53 Current Loop Configuration Attributes .114 Table 54 Frequency Control Signal Attributes 114 Table 55 Frequency Control Configuration Attri
42、butes .115 Table 56 Drive Output Attributes 115 Table 57 Stopping/Braking Attributes .116 Table 58 Stopping Mode enumeration definitions .117 Table 59 DC Bus Control Attributes .119 Table 60 Power and Thermal Management Status Attributes .121 Table 61 Power and Thermal Management Configuration Attri
43、butes.122 Table 62 Axis Status Attributes 123 Table 63 Axis Status bit definitions 124 Table 64 Axis I/O Status bit definitions.124 Table 65 Status Data Set bit definitions 125 Table 66 Exception, Fault and Alarm Status Attributes.126 Table 67 Standard Exception Table .129 Table 68 Exception Factory
44、 Limit Info Attributes 131 Table 69 Exception User Limit Configuration Attributes132 Table 70 Exception Action Configuration Attribute133 Table 71 Exception Action Bit Definitions.133 Table 72 Initialisation Fault Status Attributes .134 Table 73 Standard Initialisation Fault Table .136 Table 74 Star
45、t Inhibit Status Attributes.136 Table 75 Standard Start Inhibit Table.137 Table 76 Statistical Attributes .137 Table 77 Axis Info Attributes 138 Table 78 General Purpose I/O Attributes138 Table 79 Local Mode Configuration Attributes139 Table 80 Motion Axis Object Common Services 139 Table 81 Group_S
46、ync Request Data Structure.140 Table 82 Group_Sync Response Data Structure 140 Table 83 Motion Axis Object Object Specific Services.141 Table 84 Run Motor Test Request Data Structure 149 Table 85 Get Motor Test Response Data Structure 149 Table 86 Run Inertia Test Request Data Structure .150 Table 8
47、7 Get Inertia Test Response Data Structure .150 Table 88 Run Hookup Test Request Data Structure .151 Table 89 Get Hookup Test Response Data Structure .151 Table 90 Axis Control Request Code .152 Table 91 Axis Response Acknowledge Codes153 Table 92 Completion Criteria for Requested Operation 153 SANS
48、 61800-7-202:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 8 61800-7-202 IEC:2007(E) Table 93 Successful Axis Control Request Cycle .154 Table 94 Unsuccessful Axis Control Request Cycle .154 Table 95 Axis State Mapping to Identity Object with LED Behavior 159 Table 96 CIP Motion Device Seven-Segment Display Behavior160 Table 97 CIP Motion Multi-Character Alphanumeric Display Behavior 161 Table 98 Multi-Axis Mul
