1、BRITISH STANDARDBS EN 61800-7-202:2008Adjustable speed electrical power drive systems Part 7-202: Generic interface and use of profiles for power drive systems Profile type 2 specificationICS 29.200; 35.100.05g49g50g3g38g50g51g60g44g49g42g3g58g44g55g43g50g56g55g3g37g54g44g3g51g40g53g48g44g54g54g44g5
2、0g49g3g40g59g38g40g51g55g3g36g54g3g51g40g53g48g44g55g55g40g39g3g37g60g3g38g50g51g60g53g44g42g43g55g3g47g36g58BS EN 61800-7-202:2008This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 June 2008 BSI 2008ISBN 978 0 580 60076 0National forewordThi
3、s British Standard is the UK implementation of EN 61800-7-202:2008. It is identical to IEC 61800-7-202:2007.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 s
4、ecretary.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 STA
5、NDARD EN 61800-7-202 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 - A
6、ll rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61800-7-202:2008 E ICS 29.200; 35.100.05 English version Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile ty
7、pe 2 specification (IEC 61800-7-202:2007) Entranements lectriques de puissance vitesse variable - Partie 7-202: Interface et utilisation gnriques de profils pour les entranements lectriques de puissance - Spcifications des profils de type 2 (CEI 61800-7-202:2007) Elektrische Leistungsantriebssysteme
8、 mit einstellbarer Drehzahl - Teil 7-202: Generisches Interface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 2 (IEC 61800-7-202:2007) This European Standard was approved by CENELEC on 2008-02-01. CENELEC members are bound to comply with the CEN/CENELEC In
9、ternal 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 CENELEC
10、 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. CE
11、NELEC 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, Slovak
12、ia, Slovenia, Spain, Sweden, Switzerland and the United Kingdom. Foreword The text of document 22G/184/FDIS, future edition 1 of IEC 61800-7-202, prepared by SC 22G, Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC TC 22, Power electronic systems and equip
13、ment, was submitted to the IEC-CENELEC parallel vote and was approved by CENELEC as EN 61800-7-202 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 la
14、test date by which the national standards conflicting with the EN have to be withdrawn (dow) 2011-02-01 The International Electrotechnical Commission (IEC) and CENELEC draw attention to the fact that it is claimed that compliance with this document may involve the use of a patent concerning: Publica
15、tion/ Application serial number Holder Title US 11/241,539 RA Time Stamped Motion Control Network Protocol That Enables Balanced Single Cycle Timing and Utilization of Dynamic Data Structures The IEC and CENELEC take no position concerning the evidence, validity and scope of this patent right. The h
16、older of this patent right has assured the IEC that he/she is willing to negotiate licences under reasonable and non-discriminatory terms and conditions with applicants throughout the world. In this respect, the statement of the holder of this patent right is registered with the IEC. Information may
17、 be obtained from: RA Rockwell Automation, Inc. 1201 S. Second Street Milwaukee, WI 53204 USA Attention: Intellectual Property Dept. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights other than those identified above. IEC and CENELEC
18、 shall not be held responsible for identifying any or all such patent rights. Annex ZA has been added by CENELEC. _ Endorsement notice The text of the International Standard IEC 61800-7-202:2007 was approved by CENELEC as a European Standard without any modification. _ BS EN 61800-7-202:2008 2 CONTE
19、NTS INTRODUCTION.10 1 Scope.13 2 Normative references .13 3 Terms, definitions and abbreviated terms .14 3.1 Terms and definitions 14 3.2 Abbreviated terms .20 4 General 20 4.1 General .20 4.2 Control modes.21 4.2.1 General .21 4.2.2 Control methods 21 4.2.3 Control nomenclature 21 4.2.4 Position Co
20、ntrol.22 4.2.5 Velocity Control .23 4.2.6 Acceleration Control 25 4.2.7 Torque Control 25 4.2.8 No Control.26 5 Data types27 5.1 Data type overview27 5.2 Conventions 28 6 CIP Drive Profile.28 6.1 Object model.28 6.1.1 Object overview.28 6.1.2 Object description29 6.2 How objects affect behaviour.29
21、6.3 Defining object interfaces 29 6.4 I/O Connection messages .30 6.4.1 General .30 6.4.2 CIP Motion I/O connection.30 6.4.3 Controller-to-Device connection.33 6.4.4 Device-to-Controller connection.45 6.4.5 Fixed Device connection format.52 6.4.6 CIP Motion connection timing 53 6.5 Drive startup pro
22、cedure.62 6.5.1 General .62 6.5.2 Motion I/O Connection creation .62 6.5.3 Motion Axis Object configuration .62 6.5.4 Time Synchronisation 63 6.6 Device visualisation.64 6.7 Ethernet Quality of Service (QoS)64 7 Motion Axis Object .65 7.1 General considerations65 7.1.1 General .65 7.1.2 Object overv
23、iew.65 BS EN 61800-7-202:2008 3 7.1.3 Motion Axis Object abstraction 65 7.1.4 Motion Control Axis Object 66 7.1.5 Drive control classification.66 7.1.6 Required vs. Optional in implementation67 7.2 Class attributes .75 7.2.1 General .75 7.2.2 Semantics .78 7.3 Instance attributes.81 7.3.1 General .8
24、1 7.3.2 Motion Control configuration attributes 82 7.3.3 Motor attributes .84 7.3.4 Feedback attributes .91 7.3.5 Event Capture attributes97 7.3.6 Command reference generation attributes .101 7.3.7 Control mode attributes .105 7.3.8 Stopping & Braking attributes 115 7.3.9 DC Bus Control attributes 1
25、18 7.3.10 Power and thermal management attributes 119 7.3.11 Axis Status Attributes 121 7.3.12 Exception, fault, and alarm status attributes 125 7.3.13 Exception limit attributes .130 7.3.14 Exception action configuration attribute .131 7.3.15 Initialisation fault status attributes .133 7.3.16 Start
26、 inhibit status attributes 135 7.3.17 Axis statistical attributes136 7.3.18 Axis info attributes.137 7.3.19 General purpose I/O attributes.137 7.3.20 Local Mode Attributes138 7.4 Common services138 7.4.1 Supported services138 7.4.2 Service specific data .139 7.5 Object specific services.140 7.5.1 Su
27、pported services140 7.5.2 Service specific data .141 7.6 Behaviour150 7.6.1 State model .150 7.6.2 State behaviour .153 7.6.3 Fault and alarm behaviour .156 7.6.4 Start Inhibit behaviour .157 7.6.5 Visualization behaviour157 7.6.6 Command generation behaviour 162 7.6.7 Feedback Interface Behavior .1
28、65 7.6.8 Event Capture Behavior.168 7.6.9 Control Mode Behaviour 169 Bibliography180 Figure 1 Structure of IEC 61800-712 Annex ZA (normative) Normative references to international publications with their corresponding European publications 182 BS EN 61800-7-202:2008 4 Figure 2 Open loop position con
29、trol .22 Figure 3 Closed loop position control .23 Figure 4 Open loop velocity control24 Figure 5 Closed loop velocity control .24 Figure 6 Acceleration control .25 Figure 7 Torque control26 Figure 8 No control 27 Figure 9 Object Model for a CIP Motion drive.28 Figure 10 CIP Motion I/O connection mo
30、del .30 Figure 11 Controller-to-Device Connection Format.31 Figure 12 Device-to-Controller Connection Format.32 Figure 13 CIP Motion I/O Connection Channels .33 Figure 14 CIP Motion Controller-to-Device Connection Format 33 Figure 15 Connection Header 34 Figure 16 Connection Format.34 Figure 17 Conn
31、ection Header 35 Figure 18 Instance Data Block .36 Figure 19 Instance Data Header 37 Figure 20 Cyclic Data Header 37 Figure 21 Cyclic Write Data Block42 Figure 22 Event Data Block .42 Figure 23 Service Data Block.44 Figure 24 CIP Motion Controller-to-Device Connection Format 45 Figure 25 Connection
32、Header 45 Figure 26 Connection Header 46 Figure 27 Adjustment of actual position data based on device time stamp .47 Figure 28 Instance Data Block .47 Figure 29 Instance Data Header 48 Figure 30 Cyclic Data Block .48 Figure 31 Cyclic Read Data Block49 Figure 32 Event Data Block .50 Figure 33 Service
33、 Data Block.51 Figure 34 Fixed Controller to Device Connection Format (fixed size = 16 bytes) 52 Figure 35 Fixed Device to Controller Connection Format (fixed size = 16 bytes) 52 Figure 36 CIP Motion I/O Connection timing model 53 Figure 37 Controller-to-Drive Connection timing with fine interpolati
34、on.54 Figure 38 Controller-to-Drive Connection timing with unequal update periods 56 Figure 39 Use of Time Stamp to adjust actual position to the controllers timebase57 Figure 40 Coordination of two drives with different Update Periods58 Figure 41 Coordination of multiple drive axes in case of delay
35、ed Controller-to-Device Connection packets.59 Figure 42 Propagation of a step change in time .60 Figure 43 Group Sync of CIP Motion drives .63 BS EN 61800-7-202:2008 5 Figure 44 Object components for CIP motion architecture65 Figure 45 Controller Consumed Connection Data Format.78 Figure 46 Controll
36、er Produced Connection Data Format 79 Figure 47 Control Mode bit field .83 Figure 48 IEEE per phase motor model84 Figure 49 Feedback Configuration bit field .96 Figure 50 Event Checking Control word field99 Figure 51 Event Checking Status word field .100 Figure 52 Interpolation Control word field.10
37、4 Figure 53 Get Axis Attribute List Request Format.141 Figure 54 Get Axis Attribute List Response Format 142 Figure 55 Get Axis Attribute List Response Example 1143 Figure 56 Get Axis Attribute List Response Example 2143 Figure 57 Get Axis Attribute List Response Example 3143 Figure 58 Get Axis Attr
38、ibute List Response Example 4143 Figure 59 Set Axis Attribute List Request Format .144 Figure 60 Set Axis Attribute List Request Example 1.145 Figure 61 Set Axis Attribute List Request Example 2.145 Figure 62 Set Axis Attribute List Request Example 3.145 Figure 63 Set Axis Attribute List Response Fo
39、rmat 145 Figure 64 Set Cyclic Write List Request Format .146 Figure 65 Set Cyclic Write List Response Format.146 Figure 66 Set Cyclic Read List Request Format .147 Figure 67 Set Cyclic Read List Response Format 147 Figure 68 Motion Axis Object State Model151 Figure 69 Command Generator162 Figure 70
40、Feedback Channels 1 and 2.166 Figure 71 Feedback Channels 3 and 4.167 Figure 72 Event Capture Functionality .168 Figure 73 No Control (Feedback Only).170 Figure 74 Closed Loop Position Control .171 Figure 75 Closed Loop Velocity Control .173 Figure 76 Open Loop Frequency Control175 Figure 77 Acceler
41、ation Control.176 Figure 78 Torque Control .177 Figure 79 Closed Loop Current Vector Control.178 Table 1 Data types.27 Table 2 Objects present in a CIP Motion drive device 29 Table 3 Object effect on behavior 29 Table 4 Object interfaces .29 Table 5 Time Data Set .35 Table 6 Axis Control 38 BS EN 61
42、800-7-202:2008 6 Table 7 Command Data Set .38 Table 8 Command Data Element to Motion Axis Object Attribute mapping .39 Table 9 Actual Data Set .39 Table 10 Actual Data Element to Motion Axis Object Attribute Mapping .40 Table 11 Status Data Set configuration 40 Table 12 Interpolation Control41 Table
43、 13 Axis Response 49 Table 14 Event Type51 Table 15 Propagation of a step change in time (example 1) .60 Table 16 Propagation of a step change in time (example 2) .62 Table 17 CIP Motion visualisation components 64 Table 18 Instance attribute implementation vs. Device Control Code .67 Table 19 Class
44、 attributes for the Motion Axis Object 76 Table 20 Node Control bit definitions .79 Table 21 Node Status bit definitions.80 Table 22 Node Faults code definitions .80 Table 23 Node Alarms code definitions 81 Table 24 Dynamic Unit vs. Feedback Configuration .82 Table 25 Motion Control configuration at
45、tributes 82 Table 26 Motor Control field enumeration definitions83 Table 27 Control Method field enumeration definitions 83 Table 28 General Motor Info Attributes 85 Table 29 General Motor Configuration Attributes85 Table 30 General PM Motor Configuration Attributes .88 Table 31 General Rotary Motor
46、 Configuration Attributes 88 Table 32 General Linear Motor Configuration Attributes.89 Table 33 Rotary PM Motor Configuration Attributes89 Table 34 Linear PM Motor Configuration Attributes 90 Table 35 Induction Motor Configuration Attributes90 Table 36 General Feedback Info Attributes 91 Table 37 Fe
47、edback Configuration Attributes.92 Table 38 Feedback Selection field enumeration definitions 97 Table 39 Event Attributes.98 Table 40 Event Checking Control bit definitions .99 Table 41 Event Checking Status bit definitions.100 Table 42 Command Generator Signal Attributes.101 Table 43 Command Genera
48、tor Configuration Attributes .102 Table 44 Command Target Update enumeration definition .104 Table 45 Position Loop Signal Attributes105 Table 46 Position Loop Configuration Attributes.106 Table 47 Velocity Loop Signal Attributes107 Table 48 Velocity Loop Configuration Attributes.107 Table 49 Acceleration Signal Attributes109 BS EN 61800-7-202:2008 7 Table 50 Torque/Force Reference Signal Attributes .109 Table 51 Torque/Force Reference Configuration Attributes 110 Table 52 Current Loop Signal Attributes.111 Table 53 Current Loop Configuration Attributes .1
