EN 61800-7-202:2008

SLOVENSKI STANDARD
01-junij-2008
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Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use
of profiles for power drive systems - Profile type 2 specification (IEC 61800-7-202:2007)
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-202:
Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) -
Spezifikation von Profil-Typ 2 (IEC 61800-7-202:2007)
Entraînements électriques de puissance à vitesse variable - Partie 7-202: Interface et
utilisation génériques de profils pour les entraînements électriques de puissance -
Spécifications des profils de type 2 (CEI 61800-7-202:2007)
Ta slovenski standard je istoveten z: EN 61800-7-202:2008
ICS:
29.200 8VPHUQLNL3UHWYRUQLNL Rectifiers. Convertors.
6WDELOL]LUDQRHOHNWULþQR Stabilized power supply
QDSDMDQMH
35.100.05 9HþVORMQHXSRUDEQLãNH Multilayer applications
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2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EUROPEAN STANDARD
EN 61800-7-202
NORME EUROPÉENNE
April 2008
EUROPÄISCHE NORM
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 type 2 specification
(IEC 61800-7-202:2007)
Entraînements électriques de puissance  Elektrische Leistungsantriebssysteme
à vitesse variable - mit einstellbarer Drehzahl -
Partie 7-202: Interface et utilisation Teil 7-202: Generisches Interface
génériques de profils pour les und Nutzung von Profilen
entraînements électriques de puissance - für Leistungsantriebssysteme (PDS) -
Spécifications des profils de type 2 Spezifikation von Profil-Typ 2
(CEI 61800-7-202:2007) (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 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 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 same 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, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain,
Sweden, Switzerland and the United Kingdom.

CENELEC
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung

Central Secretariat: rue de Stassart 35, B - 1050 Brussels

© 2008 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members.
Ref. No. EN 61800-7-202:2008 E

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 equipment, 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
(dop) 2008-11-01
national standard or by endorsement
– latest date by which the national standards conflicting
(dow) 2011-02-01
with the EN have to be withdrawn
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:
Publication/
Holder Title
Application serial number
Time Stamped Motion Control Network Protocol That Enables Balanced Single
US 11/241,539 [RA]
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 holder 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 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 shall not be held responsible for
identifying any or all such patent rights.
Annex ZA has been added by CENELEC.
__________
- 3 - EN 61800-7-202:2008
Endorsement notice
The text of the International Standard IEC 61800-7-202:2007 was approved by CENELEC as a European
Standard without any modification.
In the official version, for Bibliography, the following notes have to be added for the standards indicated:
IEC 61158 NOTE  Harmonized in EN 61158 series (not modified).
IEC 61158-2 NOTE  Harmonized as EN 61158-2:2008 (not modified).
IEC 61158-3-2 NOTE  Harmonized as EN 61158-3-2:2008 (not modified).
IEC 61158-4-2 NOTE  Harmonized as EN 61158-4-2:2008 (not modified).
IEC 61499-1 NOTE  Harmonized as EN 61499-1:2005 (not modified).
IEC 61784-1 NOTE  Harmonized as EN 61784-1:2008 (not modified).
IEC 61784-2 NOTE  Harmonized as EN 61784-2:2008 (not modified).
IEC 61800 NOTE  Harmonized in EN 61800 series (not modified).
IEC 61800-7-201 NOTE  Harmonized as EN 61800-7-201:2008 (not modified).
IEC 61800-7-203 NOTE  Harmonized as EN 61800-7-203:2008 (not modified).
IEC 61800-7-204 NOTE  Harmonized as EN 61800-7-204:2008 (not modified).
IEC 61800-7-301 NOTE  Harmonized as EN 61800-7-301:2008 (not modified).
IEC 61800-7-302 NOTE  Harmonized as EN 61800-7-302:2008 (not modified).
IEC 61800-7-303 NOTE  Harmonized as EN 61800-7-303:2008 (not modified).
IEC 61800-7-304 NOTE  Harmonized as EN 61800-7-304:2008 (not modified).
__________
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications

The following referenced documents are indispensable for the application of this document. For dated
references, only the edition cited applies. For undated references, the latest edition of the referenced
document (including any amendments) applies.

NOTE  When an international publication has been modified by common modifications, indicated by (mod), the relevant EN/HD
applies.
Publication Year Title EN/HD Year

1) 2)
IEC 60204-1 (mod) - Safety of machinery - Electrical equipment of EN 60204-1 2006
machines -
Part 1: General requirements
1) 2)
IEC 61131-3 - Programmable controllers - EN 61131-3 2003
Part 3: Programming languages
1) 2)
IEC 61158-5-2 - Industrial communication networks - EN 61158-5-2 2008
Fieldbus specifications -
Part 5-2: Application layer service definition -
Type 2 elements
1) 2)
IEC 61158-6-2 - Industrial communication networks - EN 61158-6-2 2008
Fieldbus specifications -
Part 6-2: Application layer protocol
specification - Type 2 elements

IEC 61588 2004 Precision clock synchronization protocol for - -
networked measurement and control systems

IEC 61800-7 Series Adjustable speed electrical power drive EN 61800-7 Series
systems - Generic interface and use of
profiles for power drive systems

1) 2)
IEC 61800-7-1 - Adjustable speed electrical power drive EN 61800-7-1 2008
systems -
Part 7-1: Generic interface and use of profiles
for power drive systems - Interface definition

1)
IEEE 802.1Q - IEEE Standard for Local and Metropolitan - -
Area Networks: Virtual Bridged Local Area
Networks
1)
Undated reference.
2)
Valid edition at date of issue.

IEC 61800-7-202
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-202: Generic interface and use of profiles for power drive systems –
Profile type 2 specification
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XJ
ICS 29.200; 35.100.05 ISBN 2-8318-9376-3

– 2 – 61800-7-202 © 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 Control 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 types.28
5.1 Data type overview.28
5.2 Conventions .29
6 CIP Drive Profile.29
6.1 Object model .29
6.1.1 Object overview.29
6.1.2 Object description.30
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 connection 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 considerations.66
7.1.1 General .66
7.1.2 Object overview.66

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 classification.67
7.1.6 Required vs. Optional in implementation.68
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.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 attributes .119
7.3.10 Power and thermal management attributes . 120
7.3.11 Axis Status Attributes .122
7.3.12 Exception, fault, and alarm status attributes . 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 attributes.137
7.3.18 Axis info attributes.138
7.3.19 General purpose I/O attributes. 138
7.3.20 Local Mode Attributes.139
7.4 Common services.139
7.4.1 Supported services.139
7.4.2 Service specific data .140
7.5 Object specific services.141
7.5.1 Supported services.141
7.5.2 Service specific data .142
7.6 Behaviour.151
7.6.1 State model .151
7.6.2 State behaviour .154
7.6.3 Fault and alarm behaviour .157
7.6.4 Start Inhibit behaviour .158
7.6.5 Visualization behaviour.158
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

Bibliography.181

Figure 1 – Structure of IEC 61800-7.13

– 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 control.25
Figure 5 – Closed loop velocity control .25
Figure 6 – Acceleration control .26
Figure 7 – Torque control.27
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 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 Write Data Block .43
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 Data Block .48
Figure 29 – Instance Data Header .49
Figure 30 – Cyclic Data Block .49
Figure 31 – Cyclic Read Data Block .50
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 Connection 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 position to the controller’s timebase .58
Figure 40 – Coordination of two drives with different Update Periods.59
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 drives .64

61800-7-202 © IEC:2007(E) – 5 –
Figure 44 – Object components for CIP motion architecture.66
Figure 45 – Controller Consumed Connection Data Format.79
Figure 46 – Controller Produced Connection Data Format .80
Figure 47 – Control Mode bit field .84
Figure 48 – IEEE per phase motor model.85
Figure 49 – Feedback Configuration bit field .97
Figure 50 – Event Checking Control word field.100
Figure 51 – Event Checking Status word field .101
Figure 52 – Interpolation Control word field.105
Figure 53 – Get Axis Attribute List Request Format. 142
Figure 54 – Get Axis Attribute List Response Format . 143
Figure 55 – Get Axis Attribute List Response – Example 1. 144
Figure 56 – Get Axis Attribute List Response – Example 2. 144
Figure 57 – Get Axis Attribute List Response – Example 3. 144
Figure 58 – Get Axis Attribute List Response – Example 4. 144
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
Figure 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 Model.152
Figure 69 – Command Generator .163
Figure 70 – Feedback Channels 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 Control.176
Figure 77 – Acceleration Control.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

– 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 Axis Object Attribute Mapping .41
Table 11 – Status Data Set configuration .41
Table 12 – Interpolation Control.42
Table 13 – Axis Response .50
Table 14 – Event Type.52
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 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 code definitions .82
Table 24 – Dynamic Unit vs. Feedback Configuration .83
Table 25 – Motion Control configuration attributes .83
Table 26 – Motor Control field enumeration definitions.84
Table 27 –Control Method field enumeration definitions .84
Table 28 – General Motor Info Attributes .86
Table 29 – General Motor Configuration Attributes.86
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 Attributes.90
Table 34 – Linear PM Motor Configuration Attributes .91
Table 35 – Induction Motor Configuration Attributes.91
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 – 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 Attributes.106
Table 46 – Position Loop Configuration Attributes.107
Table 47 – Velocity Loop Signal Attributes .108
Table 48 – Velocity Loop Configuration Attributes .108
Table 49 – Acceleration Signal Attributes.110

61800-7-202 © IEC:2007(E) – 7 –
Table 50 – 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 Attributes .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 Attributes. 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 Limit Info Attributes . 131
Table 69 – Exception User Limit Configuration Attributes.132
Table 70 – Exception Action Configuration Attribute.133
Table 71 – Exception Action Bit Definitions.133
Table 72 – Initialisation Fault Status Attributes .134
Table 73 – Standard Initialisation Fault Table .136
Table 74 – Start 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 Attributes.138
Table 79 – Local Mode Configuration Attributes .139
Table 80 – Motion Axis Object – Common Services .139
Table 81 – Group_Sync 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 87 – 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 Codes .153
Table 92 – Completion Criteria for Requested Operation . 153

– 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 Behavior.160
Table 97 – CIP Motion Multi-Character Alphanumeric Display Behavior .161
Table 98 – Multi-Axis Multi-Character Alphanumeric Display Behavior .162

61800-7-202 © IEC:2007(E) – 9 –
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-202: Generic interface and use
of profiles for power drive systems –
Profile type 2 specification
FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
all national electrotechnical committees (IEC National Committees). The object of IEC is to promote
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9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of
patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
The International Electrotechnical Commission (IEC) draws attention to the fact that it is
claimed that compliance
...