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 978-0-626-22145-4 SANS 61800-7-204:2008 Edition 1 IEC 61800-7-204:2007 Edition 1SOUTH AFRICAN NATIONAL STANDARD Adjustable speed electrical power dr
4、ive systems Part 7-204: Generic interface and use of profiles for power drive systems Profile type 4 specification This national standard is the identical implementation of IEC 61800-7-204:2007 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 61800-7-204:2008 Edition 1 IEC 61800-7-204:2007 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 61800-7-204 Edition 1.0 2007-11 INTERNATIONAL STANDARD Adjustable speed electrical power drive systems Part 7-204: Generic interface a
8、nd use of profiles for power drive systems Profile type 4 specification INTERNATIONAL ELECTROTECHNICAL COMMISSION XM ICS 29.200; 35.100.05 PRICE CODE ISBN 2-8318-9379-8 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 2 618
9、00-7-204 IEC:2007(E) CONTENTS FOREWORD.35 INTRODUCTION.37 1 Scope.40 2 Normative references .40 3 Terms, definitions and abbreviated terms .40 3.1 Terms and definitions 40 3.2 Abbreviated terms .45 4 General 46 5 Data types46 6 Short description of SERCOS data exchange .46 6.1 General .46 6.2 Synchr
10、onisation.47 7 Application function groups 47 7.1 General .47 7.2 Scaling of operation data.48 7.2.1 General .48 7.2.2 Scaling of position data .48 7.2.3 Scaling of velocity data49 7.2.4 Scaling of torque/force data.51 7.2.5 Scaling of acceleration data and jerk data .53 7.2.6 Scaling of temperature
11、 data.55 7.3 Drive parameters.55 7.3.1 Velocity loop parameters .55 7.3.2 Position loop parameters .56 7.3.3 Current loop parameters57 7.3.4 Drive limit values .57 7.3.5 General drive parameters 57 7.3.6 Spindle parameters .58 7.3.7 Spindle synchronous operation58 7.4 Mechanics.59 7.4.1 Feedback sys
12、tems.59 7.4.2 Feed constant59 7.4.3 Gear train60 7.4.4 Polarities .60 7.4.5 Parameter sets and gear ratios61 7.4.6 Switching of parameter sets and gear ratio62 7.5 Drive operation modes 62 7.5.1 General .62 7.5.2 Selection of the operation mode 63 7.5.3 Switching of the operation mode64 7.6 Homing66
13、 7.6.1 General .66 7.6.2 Drive controlled homing procedure command 66 7.6.3 Control unit controlled homing procedure command 68 7.7 Measurements.71 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-204 IEC:2007(E) 3 7
14、.8 Position spindle procedure command 72 7.8.1 General .72 7.8.2 Spindle Positioning when the function is started 73 7.8.3 New position values while the procedure command is active .74 7.8.4 Switching the positioning mode angle position/relative offset while the procedure command is active 74 7.9 Ve
15、locity window.75 7.10 Position switches.76 7.10.1 General .76 7.10.2 Position switch mode.77 7.10.3 Cam switch mode 77 7.11 PDS state machine control 78 7.11.1 Control and status word.78 7.11.2 Starting/stopping functions (State machine).80 7.12 Park axis procedure command 83 7.13 Positive stop driv
16、e procedure command 83 7.14 Drive controlled synchronous operation procedure command 84 7.14.1 General .84 7.14.2 Synchronisation of the synchronous spindle to the lead spindle with a fixed angular offset84 7.14.3 New synchronous position offset after synchronisation 85 7.14.4 New speed ratio after
17、synchronisation .85 7.15 Drive controlled gear engaging procedure command .86 8 Identification numbers in numerical order .87 9 Description of identification numbers 100 9.1 IDN S-0-0005 Minimum feedback processing time (t 5 ) 100 9.1.1 Attributes.100 9.1.2 Description 101 9.2 IDN S-0-0007 Feedback
18、acquisition capture point (t 4 ).101 9.2.1 Attributes.101 9.2.2 Description 101 9.3 IDN S-0-0011 Class 1 diagnostic (C1D).101 9.3.1 Attributes.101 9.3.2 Description 102 9.4 IDN S-0-0012 Class 2 diagnostic (C2D).103 9.4.1 Attributes.103 9.4.2 Description 103 9.5 IDN S-0-0013 Class 3 diagnostic (C3D).
19、104 9.5.1 Attributes.104 9.5.2 Description 104 9.6 IDN S-0-0016 Configuration list of AT105 9.6.1 Attributes.105 9.6.2 Description 105 9.7 IDN S-0-0017 IDN-list of all operation data105 9.7.1 Attributes.105 9.7.2 Description 105 9.8 IDN S-0-0018 IDN-list of operation data for CP2105 9.8.1 Attributes
20、.105 9.8.2 Description 106 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 4 61800-7-204 IEC:2007(E) 9.9 IDN S-0-0019 IDN-list of operation data for CP3106 9.9.1 Attributes.106 9.9.2 Description 106 9.10 IDN S-0-0020 IDN-l
21、ist of operation data for CP4106 9.10.1 Attributes.106 9.10.2 Description 107 9.11 IDN S-0-0021 IDN-list of invalid operation data for CP2.107 9.11.1 Attributes.107 9.11.2 Description 107 9.12 IDN S-0-0022 IDN-list of invalid operation data for CP3.107 9.12.1 Attributes.107 9.12.2 Description 108 9.
22、13 IDN S-0-0023 IDN-list of invalid operation data for CP4.108 9.13.1 Attributes.108 9.13.2 Description 108 9.14 IDN S-0-0025 IDN-list of all procedure commands.108 9.14.1 Attributes.108 9.14.2 Description 109 9.15 IDN S-0-0026 Configuration list for signal status word.109 9.15.1 Attributes.109 9.15
23、.2 Description 109 9.16 IDN S-0-0027 Configuration list for signal control word109 9.16.1 Attributes.109 9.16.2 Description 110 9.17 IDN S-0-0030 Manufacturer version.110 9.17.1 Attributes.110 9.17.2 Description 110 9.18 IDN S-0-0031 Hardware version110 9.18.1 Attributes.110 9.18.2 Description 111 9
24、.19 IDN S-0-0032 to S-0-0035 Primary operation mode, secondary operation modes 1 to 3 .111 9.19.1 Attributes.111 9.19.2 Description 111 9.20 IDN S-0-0036 Velocity command value111 9.20.1 Attributes.111 9.20.2 Description 112 9.21 IDN S-0-0037 Additive velocity command value.112 9.21.1 Attributes.112
25、 9.21.2 Description 112 9.22 IDN S-0-0038 Positive velocity limit value .112 9.22.1 Attributes.112 9.22.2 Description 113 9.23 IDN S-0-0039 Negative velocity limit value 113 9.23.1 Attributes.113 9.23.2 Description 113 9.24 IDN S-0-0040 Velocity feedback value 1113 9.24.1 Attributes.113 9.24.2 Descr
26、iption 114 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-204 IEC:2007(E) 5 9.25 IDN S-0-0041 Homing velocity.114 9.25.1 Attributes.114 9.25.2 Description 114 9.26 IDN S-0-0042 Homing acceleration114 9.26.1 Attribu
27、tes.114 9.26.2 Description 115 9.27 IDN S-0-0043 Velocity polarity parameter115 9.27.1 Attributes.115 9.27.2 Description 115 9.28 IDN S-0-0044 Velocity data scaling type116 9.28.1 Attributes.116 9.28.2 Description 116 9.29 IDN S-0-0045 Velocity data scaling factor .117 9.29.1 Attributes.117 9.29.2 D
28、escription 117 9.30 IDN S-0-0046 Velocity data scaling exponent 117 9.30.1 Attributes.117 9.30.2 Description 118 9.31 IDN S-0-0047 Position command value .118 9.31.1 Attributes.118 9.31.2 Description 118 9.32 IDN S-0-0048 Additive position command value 118 9.32.1 Attributes.118 9.32.2 Description 1
29、19 9.33 IDN S-0-0049 Positive position limit value .119 9.33.1 Attributes.119 9.33.2 Description 119 9.34 IDN S-0-0050 Negative position limit value120 9.34.1 Attributes.120 9.34.2 Description 120 9.35 IDN S-0-0051 Position feedback value 1 (motor feedback) 120 9.35.1 Attributes.120 9.35.2 Descripti
30、on 121 9.36 IDN S-0-0052 Reference distance 1 121 9.36.1 Attributes.121 9.36.2 Description 121 9.37 IDN S-0-0053 Position feedback value 2 (external feedback).121 9.37.1 Attributes.121 9.37.2 Description 122 9.38 IDN S-0-0054 Reference distance 2 122 9.38.1 Attributes.122 9.38.2 Description 122 9.39
31、 IDN S-0-0055 Position polarity parameters122 9.39.1 Attributes.122 9.39.2 Description 123 9.40 IDN S-0-0057 Position window 123 9.40.1 Attributes.123 9.40.2 Description 124 9.41 IDN S-0-0058 Reversal clearance .124 SANS 61800-7-204:2008This standard may only be used and printed by approved subscrip
32、tion and freemailing clients of the SABS. 6 61800-7-204 IEC:2007(E) 9.41.1 Attributes.124 9.41.2 Description 124 9.42 IDN S-0-0059 Position switch flag parameter.125 9.42.1 Attributes.125 9.42.2 Description 125 9.43 IDN S-0-0060 to S-0-0075 Position switch points on 1-16125 9.43.1 Attributes.125 9.4
33、3.2 Description 126 9.44 IDN S-0-0076 Position data scaling type126 9.44.1 Attributes.126 9.44.2 Description 126 9.45 IDN S-0-0077 Linear position data scaling factor.127 9.45.1 Attributes.127 9.45.2 Description 127 9.46 IDN S-0-0078 Linear position data scaling exponent127 9.46.1 Attributes.127 9.4
34、6.2 Description 128 9.47 IDN S-0-0079 Rotational position resolution 128 9.47.1 Attributes.128 9.47.2 Description 128 9.48 IDN S-0-0080 Torque command value.129 9.48.1 Attributes.129 9.48.2 Description 129 9.49 IDN S-0-0082 Positive torque limit value .129 9.49.1 Attributes.129 9.49.2 Description 12
35、9 9.50 IDN S-0-0083 Negative torque limit value130 9.50.1 Attributes.130 9.50.2 Description 130 9.51 IDN S-0-0084 Torque feedback value130 9.51.1 Attributes.130 9.51.2 Description 130 9.52 IDN S-0-0085 Torque polarity parameter .131 9.52.1 Attributes.131 9.52.2 Description 131 9.53 IDN S-0-0086 Torq
36、ue/force data scaling type 131 9.53.1 Attributes.131 9.53.2 Description 132 9.54 IDN S-0-0091 Bipolar velocity limit value.132 9.54.1 Attributes.132 9.54.2 Description 133 9.55 IDN S-0-0092 Bipolar torque limit value.133 9.55.1 Attributes.133 9.55.2 Description 133 9.56 IDN S-0-0093 Torque/force dat
37、a scaling factor133 9.56.1 Attributes.133 9.56.2 Description 134 9.57 IDN S-0-0094 Torque/force data scaling exponent.134 9.57.1 Attributes.134 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-204 IEC:2007(E) 7 9.57.
38、2 Description 134 9.58 IDN S-0-0095 Diagnostic message135 9.58.1 Attributes.135 9.58.2 Description 135 9.59 IDN S-0-0097 Mask class 2 diagnostic 135 9.59.1 Attributes.135 9.59.2 Description 135 9.60 IDN S-0-0098 Mask class 3 diagnostic 136 9.60.1 Attributes.136 9.60.2 Description 136 9.61 IDN S-0-00
39、99 Reset class 1 diagnostic136 9.61.1 Attributes.136 9.61.2 Description 137 9.62 IDN S-0-0100 Velocity loop proportional gain 137 9.62.1 Attributes.137 9.62.2 Description 137 9.63 IDN S-0-0101 Velocity loop integral action time.137 9.63.1 Attributes.137 9.63.2 Description 138 9.64 IDN S-0-0102 Veloc
40、ity loop differential time 138 9.64.1 Attributes.138 9.64.2 Description 138 9.65 IDN S-0-0103 Modulo value.138 9.65.1 Attributes.138 9.65.2 Description 139 9.66 IDN S-0-0104 Position loop K V -factor139 9.66.1 Attributes.139 9.66.2 Description 140 9.67 IDN S-0-0105 Position loop integral action time
41、.140 9.67.1 Attributes.140 9.67.2 Description 140 9.68 IDN S-0-0106 Current loop proportional gain 1140 9.68.1 Attributes.140 9.68.2 Description 141 9.69 IDN S-0-0107 Current loop integral action time 1.141 9.69.1 Attributes.141 9.69.2 Description 141 9.70 IDN S-0-0108 Feedrate override141 9.70.1 At
42、tributes.141 9.70.2 Description 142 9.71 IDN S-0-0109 Motor peak current142 9.71.1 Attributes.142 9.71.2 Description 142 9.72 IDN S-0-0110 Amplifier peak current .142 9.72.1 Attributes.142 9.72.2 Description 143 9.73 IDN S-0-0111 Motor continuous stall current .143 9.73.1 Attributes.143 9.73.2 Descr
43、iption 143 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 8 61800-7-204 IEC:2007(E) 9.74 IDN S-0-0112 Amplifier rated current.143 9.74.1 Attributes.143 9.74.2 Description 144 9.75 IDN S-0-0113 Maximum motor speed 144 9.75
44、.1 Attributes.144 9.75.2 Description 144 9.76 IDN S-0-0114 Load limit of the motor.144 9.76.1 Attributes.144 9.76.2 Description 145 9.77 IDN S-0-0115 Position feedback 2 type .145 9.77.1 Attributes.145 9.77.2 Description 145 9.78 IDN S-0-0116 Resolution of feedback 1.146 9.78.1 Attributes.146 9.78.2
45、 Description 146 9.79 IDN S-0-0117 Resolution of feedback 2.146 9.79.1 Attributes.146 9.79.2 Description 147 9.80 IDN S-0-0118 Resolution of linear feedback 147 9.80.1 Attributes.147 9.80.2 Description 147 9.81 IDN S-0-0119 Current loop proportional gain 2148 9.81.1 Attributes.148 9.81.2 Description
46、 148 9.82 IDN S-0-0120 Current loop integral action time 2.148 9.82.1 Attributes.148 9.82.2 Description 149 9.83 IDN S-0-0121 Input revolutions of load gear149 9.83.1 Attributes.149 9.83.2 Description 149 9.84 IDN S-0-0122 Output revolutions of load gear .149 9.84.1 Attributes.149 9.84.2 Description
47、 150 9.85 IDN S-0-0123 Feed constant .150 9.85.1 Attributes.150 9.85.2 Description 150 9.86 IDN S-0-0124 Standstill window 150 9.86.1 Attributes.150 9.86.2 Description 151 9.87 IDN S-0-0125 Velocity threshold (n x ).151 9.87.1 Attributes.151 9.87.2 Description 151 9.88 IDN S-0-0126 Torque threshold
48、(T x )151 9.88.1 Attributes.151 9.88.2 Description 152 9.89 IDN S-0-0129 Manufacturer class 1 diagnostic 152 9.89.1 Attributes.152 9.89.2 Description 152 9.90 IDN S-0-0130 Probe value 1 positive edge 153 SANS 61800-7-204:2008This standard may only be used and printed by approved subscription and fre
49、emailing clients of the SABS.61800-7-204 IEC:2007(E) 9 9.90.1 Attributes.153 9.90.2 Description 153 9.91 IDN S-0-0131 Probe value 1 negative edge.153 9.91.1 Attributes.153 9.91.2 Description 154 9.92 IDN S-0-0132 Probe value 2 positive edge 154 9.92.1 Attributes.154 9.92.2 Description 154 9.93 IDN S-0-0133 Probe value 2 negative edge.154 9.93.1 Attributes.154 9.93.2 Description 155 9.94 IDN S-0-0134 Master control word.155 9.94.1 Attributes.155 9.94.2 Description 155 9.95 IDN S-0-0135 Drive status word 155 9.95.1 Attributes.155 9.95.2
