1、BRITISH STANDARDBS EN 61800-7-201:2008Adjustable speed electrical power drive systems Part 7-201: Generic interface and use of profiles for power drive systems Profile type 1 specificationICS 29.200; 35.100.05g49g50g3g38g50g51g60g44g49g42g3g58g44g55g43g50g56g55g3g37g54g44g3g51g40g53g48g44g54g54g44g5
2、0g49g3g40g59g38g40g51g55g3g36g54g3g51g40g53g48g44g55g55g40g39g3g37g60g3g38g50g51g60g53g44g42g43g55g3g47g36g58BS EN 61800-7-201:2008This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 June 2008 BSI 2008ISBN 978 0 580 56072 9National forewordThi
3、s British Standard is the UK implementation of EN 61800-7-201:2008. It is identical to IEC 61800-7-201:2007. The UK participation in its preparation was entrusted to Technical Committee PEL/22, Power electronics.A list of organizations represented on this committee can be obtained on request to its
4、secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application.Compliance with a British Standard cannot confer immunity from legal obligations.Amendments/corrigenda issued since publicationDate CommentsEUROPEAN ST
5、ANDARD EN 61800-7-201 NORME EUROPENNE EUROPISCHE NORM April 2008 CENELEC European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung Central Secretariat: rue de Stassart 35, B - 1050 Brussels 2008 CENELEC -
6、All rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61800-7-201:2008 E ICS 29.200; 35.100.05 English version Adjustable speed electrical power drive systems - Part 7-201: Generic interface and use of profiles for power drive systems - Profile t
7、ype 1 specification (IEC 61800-7-201:2007) Entranements lectriques de puissance vitesse variable - Partie 7-201: Interface et utilisation gnriques de profils pour les entranements lectriques de puissance - Spcifications des profils de type 1 (CEI 61800-7-201:2007) Elektrische Leistungsantriebssystem
8、e mit einstellbarer Drehzahl - Teil 7-201: Generisches Interface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 1 (IEC 61800-7-201:2007) This European Standard was approved by CENELEC on 2008-02-01. CENELEC members are bound to comply with the CEN/CENELEC I
9、nternal Regulations which stipulate the conditions for giving 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 Central Secretariat or to any CENELE
10、C member. This European Standard exists in three 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 Central Secretariat has the same status as the official versions. C
11、ENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Cyprus, the Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slova
12、kia, Slovenia, Spain, Sweden, Switzerland and the United Kingdom. Foreword The text of document 22G/184/FDIS, future edition 1 of IEC 61800-7-201, prepared by SC 22G, Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC TC 22, Power electronic systems and equi
13、pment, was submitted to the IEC-CENELEC parallel vote and was approved by CENELEC as EN 61800-7-201 on 2008-02-01. The following dates were fixed: latest date by which the EN has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2008-11-01 l
14、atest date by which the national standards conflicting with the EN have to be withdrawn (dow) 2011-02-01 Annex ZA has been added by CENELEC. _ Endorsement notice The text of the International Standard IEC 61800-7-201:2007 was approved by CENELEC as a European Standard without any modification. _ BS
15、EN 61800-7-201:2008 2 CONTENTS INTRODUCTION.15 1 Scope.18 2 Normative references .18 3 Terms, definitions and abbreviated terms .18 3.1 Terms and definitions 18 3.2 Abbreviated terms .22 4 General 23 4.1 General considerations23 4.2 Communication interface .23 4.3 Object dictionary .24 5 Data types2
16、4 5.1 Standard data types 24 5.2 Record definitions .25 6 General object definitions.26 6.1 General .26 6.2 Communication parameter objects.26 6.3 Additional identification and information objects 27 6.3.1 Object 6402h: Motor type 27 6.3.2 Object 6403h: Motor catalogue number .28 6.3.3 Object 6404h:
17、 Motor manufacturer.28 6.3.4 Object 6405h: http motor catalogue address29 6.3.5 Object 6406h: Motor calibration date .29 6.3.6 Object 6407h: Motor service period .30 6.3.7 Object 6503h: Drive catalogue number 30 6.3.8 Object 6505h: http drive catalogue address .31 7 Error codes and error behaviour .
18、31 7.1 Error codes .31 7.2 Error behavior .35 8 Controlling the power drive system .36 8.1 General .36 8.2 Finite state automaton.36 8.3 Modes of operation39 8.4 Detailed object specifications 40 8.4.1 Object 6040h: Controlword 40 8.4.2 Object 6041h: Statusword41 8.4.3 Object 603Fh: Error code 42 8.
19、4.4 Object 6007h: Abort connection option code43 8.4.5 Object 605Ah: Quick stop option code .44 8.4.6 Object 605Bh: Shutdown option code 45 8.4.7 Object 605Ch: Disable operation option code 45 8.4.8 Object 605Dh: Halt option code .46 8.4.9 Object 605Eh: Fault reaction option code 47 8.4.10 Object 60
20、60h: Modes of operation .48 8.4.11 Object 6061h: Modes of operation display .49 BS EN 61800-7-201:2008 3 8.4.12 Object 6502h: Supported drive modes .49 9 Factor group.50 9.1 General .50 9.2 Detailed object definitions .50 9.2.1 Object 608Fh: Position encoder resolution.50 9.2.2 Object 6090h: Velocit
21、y encoder resolution .51 9.2.3 Object 6091h: Gear ratio .52 9.2.4 Object 6092h: Feed constant.53 9.2.5 Object 607Eh: Polarity.54 10 Profile position mode55 10.1 General information.55 10.2 Functional description .56 10.2.1 General .56 10.2.2 Single set-point .57 10.2.3 Set of set-points 58 10.3 Gene
22、ral definitions 59 10.4 Use of controlword and statusword59 10.5 Detailed object definitions .60 10.5.1 Object 607Ah: Target position .60 10.5.2 Object 607Bh: Position range limit.61 10.5.3 Object 607Dh: Software position limit 61 10.5.4 Object 607Fh: Max profile velocity.63 10.5.5 Object 6080h: Max
23、 motor speed 63 10.5.6 Object 6081h: Profile velocity64 10.5.7 Object 6082h: End velocity64 10.5.8 Object 6083h: Profile acceleration.65 10.5.9 Object 6084h: Profile deceleration.65 10.5.10 Object 6085h: Quick stop deceleration 66 10.5.11 Object 6086h: Motion profile type 66 10.5.12 Object 60A3h: Pr
24、ofile jerk use .67 10.5.13 Object 60A4h: Profile jerk68 10.5.14 Object 60C5h: Max acceleration69 10.5.15 Object 60C6h: Max deceleration70 11 Homing mode .71 11.1 General information.71 11.2 Functional description .71 11.3 General definitions 72 11.3.1 Method 1: Homing on negative limit switch and in
25、dex pulse.72 11.3.2 Method 2: Homing on positive limit switch and index pulse72 11.3.3 Method 3 and 4: Homing on positive home switch and index pulse 72 11.3.4 Method 5 and 6: Homing on negative home switch and index pulse.73 11.3.5 Method 7 to 14: Homing on home switch and index pulse73 11.3.6 Meth
26、od 15 and 16: Reserved.74 11.3.7 Method 17 to 30: Homing without index pulse74 11.3.8 Method 31 and 32: Reserved.75 11.3.9 Method 33 and 34: Homing on index pulse 75 11.3.10 Method 35: Homing on index pulse75 11.3.11 Method 36: Homing with touch-probe 75 11.4 Use of controlword and statusword75 BS E
27、N 61800-7-201:2008 4 11.5 Detailed object definitions .76 11.5.1 Object 607Ch: Home offset .76 11.5.2 Object 6098h: Homing method 77 11.5.3 Object 6099h: Homing speeds.78 11.5.4 Object 609Ah: Homing acceleration.79 11.5.5 Object 60B8h: Touch probe function79 11.5.6 Object 60B9h: Touch probe status.8
28、1 11.5.7 Object 60BAh: Touch probe pos1 pos value 81 11.5.8 Object 60BBh: Touch probe pos1 neg value 82 11.5.9 Object 60BCh: Touch probe pos2 pos value 82 11.5.10 Object 60BDh: Touch probe pos2 neg value83 12 Position control function .83 12.1 General information.83 12.2 Functional description .84 1
29、2.3 Detailed object definitions .86 12.3.1 Object 6062h: Position demand value .86 12.3.2 Object 6063h: Position actual internal value 86 12.3.3 Object 6064h: Position actual value.87 12.3.4 Object 6065h: Following error window .87 12.3.5 Object 6066h: Following error time out 88 12.3.6 Object 6067h
30、: Position window89 12.3.7 Object 6068h: Position window time 89 12.3.8 Object 60F4h: Following error actual value90 12.3.9 Object 60FAh: Control effort90 12.3.10 Object 60FCh: Position demand internal value 91 12.3.11 Object 60F2h: Positioning option code 91 13 Interpolated position mode .93 13.1 G
31、eneral information.93 13.2 Functional description .94 13.2.1 General .94 13.2.2 Linear interpolated position mode with several axes 95 13.2.3 Buffer strategies for the interpolated position mode .96 13.2.4 Interpolated position mode FSA.97 13.3 General definitions 98 13.4 Use of controlword and stat
32、usword98 13.5 Detailed object definitions .99 13.5.1 Object 60C0h: Interpolation sub mode select.99 13.5.2 Object 60C1h: Interpolation data record 100 13.5.3 Object 60C2h: Interpolation time period.101 13.5.4 Object 60C4h: Interpolation data configuration 102 14 Profile velocity mode 104 14.1 Genera
33、l information.104 14.2 Functional description .105 14.3 General definitions 106 14.4 Use of controlword and statusword106 14.5 Detailed object definitions .107 14.5.1 Object 6069h: Velocity sensor actual value .107 14.5.2 Object 606Ah: Sensor selection code 107 14.5.3 Object 606Bh: Velocity demand v
34、alue .108 BS EN 61800-7-201:2008 5 14.5.4 Object 606Ch: Velocity actual value 109 14.5.5 Object 606Dh: Velocity window .109 14.5.6 Object 606Eh: Velocity window time 110 14.5.7 Object 606Fh: Velocity threshold.110 14.5.8 Object 6070h: Velocity threshold time .111 14.5.9 Object 60FFh: Target velocity
35、 .111 14.5.10 Object 60F8h: Max slippage 112 15 Profile torque mode 112 15.1 General information.112 15.2 Functional description .112 15.3 General definitions 113 15.4 Use of controlword and statusword113 15.5 Detailed object definitions .114 15.5.1 Object 6071h: Target torque114 15.5.2 Object 6072h
36、: Max torque .115 15.5.3 Object 6073h: Max current 115 15.5.4 Object 6074h: Torque demand 116 15.5.5 Object 6075h: Motor rated current.116 15.5.6 Object 6076h: Motor rated torque 117 15.5.7 Object 6077h: Torque actual value 117 15.5.8 Object 6078h: Current actual value .118 15.5.9 Object 6079h: DC l
37、ink circuit voltage.118 15.5.10 Object 6087h: Torque slope 119 15.5.11 Object 6088h: Torque profile type .119 16 Velocity mode.120 16.1 General information.120 16.2 Functional description .121 16.2.1 Velocity limit function.121 16.2.2 Ramp function .121 16.2.3 Velocity control function 121 16.2.4 Fa
38、ctor function 121 16.3 General definitions 122 16.4 Use of controlword and statusword122 16.5 Detailed object definitions .123 16.5.1 Object 6042h: vl target velocity123 16.5.2 Object 6043h: vl velocity demand 124 16.5.3 Object 6044h: vl velocity actual value124 16.5.4 Object 6046h: vl velocity min
39、max amount .125 16.5.5 Object 6049h: vl velocity deceleration126 16.5.6 Object 6048h: vl velocity acceleration127 16.5.7 Object 604Ah: vl velocity quick stop 129 16.5.8 Object 604Bh: vl set-point factor130 16.5.9 Object 604Ch: vl dimension factor .131 17 Cyclic synchronous position mode132 17.1 Gene
40、ral information.132 17.2 Functional description .133 17.3 Use of controlword and statusword134 17.4 Detailed object definitions .135 17.4.1 Object 60B0h: Position offset 135 BS EN 61800-7-201:2008 6 17.4.2 Object 60B1h: Velocity offset.135 17.4.3 Object 60B2h: Torque offset 136 18 Cyclic synchronous
41、 velocity mode 136 18.1 General information.136 18.2 General definitions 137 18.3 Functional description .137 18.4 Use of controlword and statusword138 19 Cyclic synchronous torque mode 139 19.1 General information.139 19.2 General definitions 139 19.3 Functional description .139 19.4 Use of control
42、word and statusword140 20 Optional application FE 140 20.1 General .140 20.2 Object 60FDh: Digital inputs140 20.3 Object 60FEh: Digital outputs141 Bibliography143 Figure 1 Structure of IEC 61800-717 Figure 2 Value definition 26 Figure 3 Remote and local control36 Figure 4 Power drive system finite s
43、tate automaton .37 Figure 5 Relation between different value parameters40 Figure 6 Value definition 40 Figure 7 Value definition 41 Figure 8 Value definition 49 Figure 9 Value definition 55 Figure 10 Trajectory generator and position control function 55 Figure 11 Trajectory generator for profile pos
44、ition mode 56 Figure 12 Set-point example 57 Figure 13 Handshaking procedure for the single set-point method .57 Figure 14 Handshaking procedure for the set of set-points method 58 Figure 15 Set-point handling for two set-points 58 Figure 16 Controlword for profile position (pp) mode59 Figure 17 Sta
45、tusword for profile position (pp) mode .60 Figure 18 Velocity/time diagram with jerk positions 68 Figure 19 Homing mode function .71 Figure 20 Homing on negative limit switch and index pulse72 Figure 21 Homing on positive limit switch and index pulse .72 Figure 22 Homing on positive home switch and
46、index pulse .73 Figure 23 Homing on negative home switch and index pulse73 Figure 24 Homing on home switch and index pulse positive initial motion .74 Figure 25 Homing on home switch and index pulse negative initial motion .74 Figure 26 Homing on positive home switch 75 BS EN 61800-7-201:2008 7 Anne
47、x ZA (normative) Normative references to international publications with theircorresponding European publications 144 Figure 27 Homing on index pulse.75 Figure 28 Controlword for homing mode 75 Figure 29 Statusword for homing mode76 Figure 30 Home offset definition 76 Figure 31 Position control func
48、tion.84 Figure 32 Following error (functional overview)84 Figure 33 Position reached (functional overview) .85 Figure 34 Position reached (definitions) .85 Figure 35 Following error (definitions)86 Figure 36 Object structure .91 Figure 37 Interpolation controller .94 Figure 38 Interpolated position
49、mode for two axes .95 Figure 39 Linear interpolation for one axis .96 Figure 40 Input buffer organisation 97 Figure 41 Input buffer examples.97 Figure 42 Interpolated position mode FSA .98 Figure 43 Controlword for interpolated position mode 98 Figure 44 Statusword for interpolated position mode99 Figure 45 Profile velocity mode106 Figure 46 Controlword for profile velocity mode .106 Figure 47 Statusword for profile velocity mode.107 Figure 4
