1、BRITISH STANDARDBS EN 61800-7-204: 2008Adjustable speed electrical power drive systems Part 7-204: Generic interface and use of profiles for power drive systems Profile type 4 specificationICS 29.200; 35.100.05g49g50g3g38g50g51g60g44g49g42g3g58g44g55g43g50g56g55g3g37g54g44g3g51g40g53g48g44g54g54g44g
2、50g49g3g40g59g38g40g51g55g3g36g54g3g51g40g53g48g44g55g55g40g39g3g37g60g3g38g50g51g60g53g44g42g43g55g3g47g36g58BS EN 61800-7-204:2008This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 April 2009 BSI 2009ISBN 978 0 580 60078 4National forewordT
3、his British Standard is the UK implementation of EN 61800-7-204:2008. It is identical to IEC 61800-7-204:2007. 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 it
4、s 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
5、STANDARD EN 61800-7-204 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 61800-7-204:2008 E ICS 29.200; 35.100.05 Partially supersedes EN 61491:1998 English version Adjustable speed electrical power drive systems - Part 7-204: Generic interface and use of profile
7、s for power drive systems - Profile type 4 specification (IEC 61800-7-204:2007) Entranements lectriques de puissance vitesse variable - Partie 7-204: Interface et utilisation gnriques de profils pour les entranements lectriques de puissance - Spcifications des profils de type 4 (CEI 61800-7-204:2007
8、) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-204: Generisches Interface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 4 (IEC 61800-7-204:2007) This European Standard was approved by CENELEC on 2008-02-01. CENELEC members are b
9、ound to comply with the CEN/CENELEC Internal 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
10、 Central Secretariat or to any CENELEC 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 sa
11、me status as the official versions. CENELEC 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, Nor
12、way, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and the United Kingdom. Foreword The text of document 22G/184/FDIS, future edition 1 of IEC 61800-7-204, prepared by SC 22G, Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC TC
13、22, Power electronic systems and equipment, was submitted to the IEC-CENELEC parallel vote and was approved by CENELEC as EN 61800-7-204 on 2008-02-01. This European Standard, together with its companion parts for Profile type 4 (SERCOS), partially replaces EN 61491:1998 which is at present being re
14、vised (to be issued as a Technical Report). 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 latest date by which the national standards conflicting with the EN have
15、 to be withdrawn (dow) 2011-02-01 Annex ZA has been added by CENELEC. _ Endorsement notice The text of the International Standard IEC 61800-7-204:2007 was approved by CENELEC as a European Standard without any modification. _ BS EN 61800-7-204:2008 2 CONTENTS INTRODUCTION.36 1 Scope.39 2 Normative r
16、eferences .39 3 Terms, definitions and abbreviated terms .39 3.1 Terms and definitions 39 3.2 Abbreviated terms .39 4 General 45 5 Data types45 6 Short description of SERCOS data exchange .45 6.1 General .45 6.2 Synchronisation.46 7 Application function groups 46 7.1 General .46 7.2 Scaling of opera
17、tion data.47 7.2.1 General .47 7.2.2 Scaling of position data .47 7.2.3 Scaling of velocity data48 7.2.4 Scaling of torque/force data.50 7.2.5 Scaling of acceleration data and jerk data .52 7.2.6 Scaling of temperature data.54 7.3 Drive parameters.54 7.3.1 Velocity loop parameters .54 7.3.2 Position
18、 loop parameters .55 7.3.3 Current loop parameters56 7.3.4 Drive limit values .56 7.3.5 General drive parameters 56 7.3.6 Spindle parameters .57 7.3.7 Spindle synchronous operation57 7.4 Mechanics.58 7.4.1 Feedback systems.58 7.4.2 Feed constant58 7.4.3 Gear train 59 7.4.4 Polarities .59 7.4.5 Param
19、eter sets and gear ratios60 7.4.6 Switching of parameter sets and gear ratio61 7.5 Drive operation modes 61 7.5.1 General .61 7.5.2 Selection of the operation mode 62 7.5.3 Switching of the operation mode63 7.6 Homing65 7.6.1 General .65 7.6.2 Drive controlled homing procedure command 65 7.6.3 Contr
20、ol unit controlled homing procedure command 67 7.7 Measurements.70 BS EN 61800-7-204:2008 3 7.8 Position spindle procedure command 71 7.8.1 General .71 7.8.2 Spindle Positioning when the function is started 72 7.8.3 New position values while the procedure command is active .73 7.8.4 Switching the po
21、sitioning mode angle position/relative offset while the procedure command is active 73 7.9 Velocity window.74 7.10 Position switches.75 7.10.1 General .75 7.10.2 Position switch mode.76 7.10.3 Cam switch mode 76 7.11 PDS state machine control 77 7.11.1 Control and status word.77 7.11.2 Starting/stop
22、ping functions (State machine).79 7.12 Park axis procedure command 82 7.13 Positive stop drive procedure command 82 7.14 Drive controlled synchronous operation procedure command 83 7.14.1 General .83 7.14.2 Synchronisation of the synchronous spindle to the lead spindle with a fixed angular offset83
23、7.14.3 New synchronous position offset after synchronisation 84 7.14.4 New speed ratio after synchronisation .84 7.15 Drive controlled gear engaging procedure command .85 8 Identification numbers in numerical order .86 9 Description of identification numbers 99 9.1 IDN S-0-0005 Minimum feedback proc
24、essing time (t5) 99 9.1.1 Attributes.99 9.1.2 Description 100 9.2 IDN S-0-0007 Feedback acquisition capture point (t4) .100 9.2.1 Attributes.100 9.2.2 Description 100 9.3 IDN S-0-0011 Class 1 diagnostic (C1D).100 9.3.1 Attributes.100 9.3.2 Description 101 9.4 IDN S-0-0012 Class 2 diagnostic (C2D).10
25、2 9.4.1 Attributes.102 9.4.2 Description 102 9.5 IDN S-0-0013 Class 3 diagnostic (C3D).103 9.5.1 Attributes.103 9.5.2 Description 103 9.6 IDN S-0-0016 Configuration list of AT104 9.6.1 Attributes.104 9.6.2 Description 104 9.7 IDN S-0-0017 IDN-list of all operation data104 9.7.1 Attributes.104 9.7.2
26、Description 104 9.8 IDN S-0-0018 IDN-list of operation data for CP2104 9.8.1 Attributes.104 9.8.2 Description 105 BS EN 61800-7-204:2008 4 9.9 IDN S-0-0019 IDN-list of operation data for CP3105 9.9.1 Attributes.105 9.9.2 Description 105 9.10 IDN S-0-0020 IDN-list of operation data for CP4105 9.10.1
27、Attributes.105 9.10.2 Description 106 9.11 IDN S-0-0021 IDN-list of invalid operation data for CP2.106 9.11.1 Attributes.106 9.11.2 Description 106 9.12 IDN S-0-0022 IDN-list of invalid operation data for CP3.106 9.12.1 Attributes.106 9.12.2 Description 107 9.13 IDN S-0-0023 IDN-list of invalid oper
28、ation data for CP4.107 9.13.1 Attributes.107 9.13.2 Description 107 9.14 IDN S-0-0025 IDN-list of all procedure commands.107 9.14.1 Attributes.107 9.14.2 Description 108 9.15 IDN S-0-0026 Configuration list for signal status word.108 9.15.1 Attributes.108 9.15.2 Description 108 9.16 IDN S-0-0027 Con
29、figuration list for signal control word108 9.16.1 Attributes.108 9.16.2 Description 109 9.17 IDN S-0-0030 Manufacturer version.109 9.17.1 Attributes.109 9.17.2 Description 109 9.18 IDN S-0-0031 Hardware version 109 9.18.1 Attributes.109 9.18.2 Description 110 9.19 IDN S-0-0032 to S-0-0035 Primary op
30、eration mode, secondary operation modes 1 to 3 .110 9.19.1 Attributes.110 9.19.2 Description 110 9.20 IDN S-0-0036 Velocity command value110 9.20.1 Attributes.110 9.20.2 Description 111 9.21 IDN S-0-0037 Additive velocity command value.111 9.21.1 Attributes.111 9.21.2 Description 111 9.22 IDN S-0-00
31、38 Positive velocity limit value .111 9.22.1 Attributes.111 9.22.2 Description 112 9.23 IDN S-0-0039 Negative velocity limit value 112 9.23.1 Attributes.112 9.23.2 Description 112 9.24 IDN S-0-0040 Velocity feedback value 1112 9.24.1 Attributes.112 9.24.2 Description 113 BS EN 61800-7-204:2008 5 9.2
32、5 IDN S-0-0041 Homing velocity.113 9.25.1 Attributes.113 9.25.2 Description 113 9.26 IDN S-0-0042 Homing acceleration113 9.26.1 Attributes.113 9.26.2 Description 114 9.27 IDN S-0-0043 Velocity polarity parameter114 9.27.1 Attributes.114 9.27.2 Description 114 9.28 IDN S-0-0044 Velocity data scaling
33、type115 9.28.1 Attributes.115 9.28.2 Description 115 9.29 IDN S-0-0045 Velocity data scaling factor .116 9.29.1 Attributes.116 9.29.2 Description 116 9.30 IDN S-0-0046 Velocity data scaling exponent 116 9.30.1 Attributes.116 9.30.2 Description 117 9.31 IDN S-0-0047 Position command value .117 9.31.1
34、 Attributes.117 9.31.2 Description 117 9.32 IDN S-0-0048 Additive position command value 117 9.32.1 Attributes.117 9.32.2 Description 118 9.33 IDN S-0-0049 Positive position limit value .118 9.33.1 Attributes.118 9.33.2 Description 118 9.34 IDN S-0-0050 Negative position limit value119 9.34.1 Attrib
35、utes.119 9.34.2 Description 119 9.35 IDN S-0-0051 Position feedback value 1 (motor feedback) 119 9.35.1 Attributes.119 9.35.2 Description 120 9.36 IDN S-0-0052 Reference distance 1 120 9.36.1 Attributes.120 9.36.2 Description 120 9.37 IDN S-0-0053 Position feedback value 2 (external feedback).120 9.
36、37.1 Attributes.120 9.37.2 Description 121 9.38 IDN S-0-0054 Reference distance 2 121 9.38.1 Attributes.121 9.38.2 Description 121 9.39 IDN S-0-0055 Position polarity parameters121 9.39.1 Attributes.121 9.39.2 Description 122 9.40 IDN S-0-0057 Position window 122 9.40.1 Attributes.122 9.40.2 Descrip
37、tion 123 9.41 IDN S-0-0058 Reversal clearance .123 BS EN 61800-7-204:2008 6 9.41.1 Attributes.123 9.41.2 Description 123 9.42 IDN S-0-0059 Position switch flag parameter.124 9.42.1 Attributes.124 9.42.2 Description 124 9.43 IDN S-0-0060 to S-0-0075 Position switch points on 1-16124 9.43.1 Attributes
38、.124 9.43.2 Description 125 9.44 IDN S-0-0076 Position data scaling type125 9.44.1 Attributes.125 9.44.2 Description 125 9.45 IDN S-0-0077 Linear position data scaling factor .126 9.45.1 Attributes.126 9.45.2 Description 126 9.46 IDN S-0-0078 Linear position data scaling exponent126 9.46.1 Attribute
39、s.126 9.46.2 Description 127 9.47 IDN S-0-0079 Rotational position resolution 127 9.47.1 Attributes.127 9.47.2 Description 127 9.48 IDN S-0-0080 Torque command value .128 9.48.1 Attributes.128 9.48.2 Description 128 9.49 IDN S-0-0082 Positive torque limit value .128 9.49.1 Attributes.128 9.49.2 Desc
40、ription 128 9.50 IDN S-0-0083 Negative torque limit value129 9.50.1 Attributes.129 9.50.2 Description 129 9.51 IDN S-0-0084 Torque feedback value129 9.51.1 Attributes.129 9.51.2 Description 129 9.52 IDN S-0-0085 Torque polarity parameter .130 9.52.1 Attributes.130 9.52.2 Description 130 9.53 IDN S-0
41、-0086 Torque/force data scaling type 130 9.53.1 Attributes.130 9.53.2 Description 131 9.54 IDN S-0-0091 Bipolar velocity limit value.131 9.54.1 Attributes.131 9.54.2 Description 132 9.55 IDN S-0-0092 Bipolar torque limit value.132 9.55.1 Attributes.132 9.55.2 Description 132 9.56 IDN S-0-0093 Torque
42、/force data scaling factor 132 9.56.1 Attributes.132 9.56.2 Description 133 9.57 IDN S-0-0094 Torque/force data scaling exponent.133 9.57.1 Attributes.133 BS EN 61800-7-204:2008 7 9.57.2 Description 133 9.58 IDN S-0-0095 Diagnostic message 134 9.58.1 Attributes.134 9.58.2 Description 134 9.59 IDN S-
43、0-0097 Mask class 2 diagnostic 134 9.59.1 Attributes.134 9.59.2 Description 134 9.60 IDN S-0-0098 Mask class 3 diagnostic 135 9.60.1 Attributes.135 9.60.2 Description 135 9.61 IDN S-0-0099 Reset class 1 diagnostic135 9.61.1 Attributes.135 9.61.2 Description 136 9.62 IDN S-0-0100 Velocity loop propor
44、tional gain 136 9.62.1 Attributes.136 9.62.2 Description 136 9.63 IDN S-0-0101 Velocity loop integral action time.136 9.63.1 Attributes.136 9.63.2 Description 137 9.64 IDN S-0-0102 Velocity loop differential time 137 9.64.1 Attributes.137 9.64.2 Description 137 9.65 IDN S-0-0103 Modulo value.137 9.6
45、5.1 Attributes.137 9.65.2 Description 138 9.66 IDN S-0-0104 Position loop KV-factor138 9.66.1 Attributes.138 9.66.2 Description 139 9.67 IDN S-0-0105 Position loop integral action time.139 9.67.1 Attributes.139 9.67.2 Description 139 9.68 IDN S-0-0106 Current loop proportional gain 1 139 9.68.1 Attr
46、ibutes.139 9.68.2 Description 140 9.69 IDN S-0-0107 Current loop integral action time 1.140 9.69.1 Attributes.140 9.69.2 Description 140 9.70 IDN S-0-0108 Feedrate override140 9.70.1 Attributes.140 9.70.2 Description 141 9.71 IDN S-0-0109 Motor peak current 141 9.71.1 Attributes.141 9.71.2 Descripti
47、on 141 9.72 IDN S-0-0110 Amplifier peak current .141 9.72.1 Attributes.141 9.72.2 Description 142 9.73 IDN S-0-0111 Motor continuous stall current .142 9.73.1 Attributes.142 9.73.2 Description 142 BS EN 61800-7-204:2008 8 9.74 IDN S-0-0112 Amplifier rated current.142 9.74.1 Attributes.142 9.74.2 Des
48、cription 143 9.75 IDN S-0-0113 Maximum motor speed 143 9.75.1 Attributes.143 9.75.2 Description 143 9.76 IDN S-0-0114 Load limit of the motor.143 9.76.1 Attributes.143 9.76.2 Description 144 9.77 IDN S-0-0115 Position feedback 2 type .144 9.77.1 Attributes.144 9.77.2 Description 144 9.78 IDN S-0-011
49、6 Resolution of feedback 1.145 9.78.1 Attributes.145 9.78.2 Description 145 9.79 IDN S-0-0117 Resolution of feedback 2.145 9.79.1 Attributes.145 9.79.2 Description 146 9.80 IDN S-0-0118 Resolution of linear feedback 146 9.80.1 Attributes.146 9.80.2 Description 146 9.81 IDN S-0-0119 Current loop proportional gain 2 147 9.81.1 Attributes.147 9.81.2 Description 147 9.82 IDN S-0-0120 Current loop integral action time 2.147 9.82.1 Attributes.147 9.82.2 Description 148 9.83 IDN S-0-0121 Input revolutions of load gear 148 9.83.1 Attributes.148
