IEC 61800-7-302:2007

IEC 61800-7-302 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-302: Generic interface and use of profiles for power drive systems –
Mapping of profile type 2 to network technologies

Entraînements électriques de puissance à vitesse variable –
Partie 7-302: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Mise en correspondance du profil de type 2 avec les
technologies de réseaux
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IEC 61800-7-302 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –

Part 7-302: Generic interface and use of profiles for power drive systems –

Mapping of profile type 2 to network technologies

Entraînements électriques de puissance à vitesse variable –

Partie 7-302: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Mise en correspondance du profil de type 2 avec les

technologies de réseaux
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX U
ICS 29.200; 35.100.05 ISBN 978-2-83220-712-3

– 2 – 61800-7-302  IEC:2007
CONTENTS
FOREWORD . 4
INTRODUCTION . 6

1 Scope . 9
2 Normative references . 9
3 Terms, definitions and abbreviated terms . 10
3.1 Terms and definitions . 10
3.2 Abbreviated terms . 15
4 Principles for mapping CIP Motion™ . 15
4.1 General principles for mapping CIP Motion™ . 15
4.2 Mapping CIP Motion™ . 16
4.3 Data types . 17
4.4 I/O connection interface . 17
4.4.1 General . 17
4.4.2 I/O connection formats . 17
4.4.3 Fixed I/O connection format . 18
4.4.4 Variable I/O connection format . 19
5 Mapping to DeviceNet™ . 21
5.1 Adaptation of the device model . 21
5.2 Use of I/O data formats . 22
6 Mapping to ControlNet™ . 23
6.1 Adaptation of the device model . 23
6.2 Use of I/O data formats . 24
7 Mapping to EtherNet/IP™ . 24
7.1 Adaptation of the device model . 24
7.2 Use of I/O data formats . 26

Bibliography . 27

Figure 1 – Structure of IEC 61800-7. 8
Figure 2 – Overview of CIP-based networks. 16
Figure 3 – Connection Header . 17
Figure 4 – Connection Format . 18
Figure 5 – Fixed Controller to Device I/O Connection Format (fixed size = 16 bytes) . 19
Figure 6 – Fixed Device to Controller I/O Connection Format (fixed size = 16 bytes) . 19
Figure 7 – Controller-to-Device I/O connection format (variable size) . 20
Figure 8 – Device-to-Controller I/O connection format (variable size) . 21
Figure 9 – Object Model for a CIP Motion drive on DeviceNet . 22
Figure 10 – Object Model for a CIP Motion drive on ControlNet . 23
Figure 11 – Object Model for a CIP Motion drive on EtherNet/IP . 25

Table 1 – Data types . 17
Table 2 – Object classes for a CIP Motion drive device type on DeviceNet . 22
Table 3 – Object classes for a CIP Motion drive device type on ControlNet . 24

61800-7-302  IEC:2007 – 3 –
Table 4 – Object classes for a CIP Motion drive device type on EtherNet/IP . 25

– 4 – 61800-7-302  IEC:2007
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-302: Generic interface and use
of profiles for power drive systems –
Mapping of profile type 2 to network technologies

FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
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 with this document may involve the use of a patent concerning the
following.
Publication / Holder Title
Application serial number
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 takes no position concerning the evidence, validity and scope of this patent right.

61800-7-302  IEC:2007 – 5 –
The holder of this patent right has assured the IEC that he 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 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 shall not be held responsible for
identifying any or all such patent rights.
The International Standard IEC 61800-7-302 has been prepared by subcommittee SC 22G:
Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC
technical committee TC 22: Power electronic systems and equipment.
This bilingual version (2013-04) corresponds to the monolingual English version, published in
2007-11.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/185/FDIS 22G/193/RVD
Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.
The French version of this standard has not been voted upon.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
A list of all parts of the IEC 61800 series, under the general title Adjustable speed electrical
power drive systems, can be found on the IEC website.
The committee has decided that the contents of this publication will remain unchanged until
the maintenance result date indicated on the IEC web site under "http://webstore.iec.ch" in
the data related to the specific publication. At this date, the publication will be
• reconfirmed;
• withdrawn;
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
– 6 – 61800-7-302  IEC:2007
INTRODUCTION
The IEC 61800 series is intended to provide a common set of specifications for adjustable
speed electrical power drive systems.
IEC 61800-7 describes a generic interface between control systems and power drive systems.
This interface can be embedded in the control system. The control system itself can also be
located in the drive (sometimes known as "smart drive" or "intelligent drive").
A variety of physical interfaces is available (analogue and digital inputs and outputs, serial
and parallel interfaces, fieldbuses and networks). Profiles based on specific physical
interfaces are already defined for some application areas (e.g. motion control) and some
device classes (e.g. standard drives, positioner). The implementations of the associated
drivers and application programmers interfaces are proprietary and vary widely.
IEC 61800-7 defines a set of common drive control functions, parameters, and state machines
or description of sequences of operation to be mapped to the drive profiles.
IEC 61800-7 provides a way to access functions and data of a drive that is independent of the
used drive profile and communication interface. The objective is a common drive model with
generic functions and objects suitable to be mapped on different communication interfaces.
This makes it possible to provide common implementations of motion control (or velocity
control or drive control applications) in controllers without any specific knowledge of the drive
implementation.
There are several reasons to define a generic interface:
For a drive device manufacturer
– Less effort to support system integrators
– Less effort to describe drive functions because of common terminology
– The selection of drives does not depend on availability of specific support
For a control device manufacturer
– No influence of bus technology
– Easy device integration
– Independent of a drive supplier
For a system integrator
– Less integration effort for devices
– Only one understandable way of modeling
– Independent of bus technology
Much effort is needed to design a motion control application with several different drives and
a specific control system. The tasks to implement the system software and to understand the
functional description of the individual components may exhaust the project resources. In
some cases, the drives do not share the same physical interface. Some control devices just
support a single interface which will not be supported by a specific drive. On the other hand,
the functions and data structures are often specified with incompatibilities. This requires the
system integrator to write special interfaces for the application software and this should not be
his responsibility.
Some applications need device exchangeability or integration of new devices in an existing
configuration. They are faced with different incompatible solutions. The efforts to adopt a
solution to a drive profile and to manufacturer specific extensions may be unacceptable. This
will reduce the degree of freedom to select a device best suited for this application to the
selection of the unit which will be available for a specific physical interface and supported by
the controller.
61800-7-302  IEC:2007 – 7 –
IEC 61800-7-1 is divided into a generic part and several annexes as shown in Figure 1. The
1 TM2 3 TM4
drive profile types for CiA 402 , CIP Motion , PROFIdrive and SERCOS interface are
mapped to the generic interface in the corresponding annex. The annexes have been
submitted by open international network or fieldbus organizations which are responsible for
the content of the related annex and use of the related trademarks.
The different profiles types 1, 2, 3, 4 are specified in IEC 61800-7-201, IEC 61800-7-202,
IEC 61800-7-203 and IEC 61800-7-204.
TM
This part of IEC 61800-7 specifies how the profile type 2 (CIP Motion ) is mapped to the
TM TM TM
5 6 7
network technologies DeviceNet , ControlNet and EtherNet/IP .
IEC 61800-7-301, IEC 61800-7-303 and IEC 61800-7-304 specify how the profile types 1, 3
TM
8 9
and 4 are mapped to different network technologies (such as CANopen , EtherCAT ,
TM
10 11 12
Ethernet Powerlink , PROFIBUS , PROFINET and SERCOS interface).
—————————
CiA 402 is a trade name of CAN in Automation, e.V. This information is given for the convenience of users of
this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of
its products. Compliance to this profile does not require use of the trade name CiA 402.
CIP Motion™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name CIP
Motion™. Use of the trade name CIP Motion™ requires permission of Open DeviceNet Vendor Association, Inc.
PROFIdrive is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIdrive. Use of the trade
name PROFIdrive requires permission of PROFIBUS International.
SERCOS™ and SERCOS interface™ are trade names of SERCOS International e.V. This information is given
for the convenience of users of this International Standard and does not constitute an endorsement by IEC of
the trade name holder or any of its products. Compliance to this profile does not require use of the trade names
SERCOS or SERCOS interface. Use of the trade name SERCOS and SERCOS interface requires permission of
the trade name holder.
DeviceNet™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name
DeviceNet™. Use of the trade name DeviceNet™ requires permission of Open DeviceNet Vendor Association,
Inc.
ControlNet™ is a trade name of ControlNet International, Ltd. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trademark holder or
any of its products. Compliance to this profile does not require use of the trade name ControlNet™. Use of the
trade name ControlNet™ requires permission of ControlNet International, Ltd.
EtherNet/IP™ is a trade name of ControlNet International, Ltd. and Open DeviceNet Vendor Association, Inc.
This information is given for the convenience of users of this International Standard and does not constitute an
endorsement by IEC of the trademark holder or any of its products. Compliance to this profile does not require
use of the trade name EtherNet/IP™. Use of the trade name EtherNet/IP™ requires permission of either
ControlNet International, Ltd. or Open DeviceNet Vendor Association, Inc.
CANopen is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
EtherCAT™ is a trade name of Beckhoff, Verl. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trademark holder or any of its
products. Compliance to this profile does not require use of the trade name EtherCAT™. Use of the trade name
EtherCAT™ requires permission of the trade name holder.
Ethernet Powerlink™ is a trade name of B&R, control of trade name use is given to the non profit organization
EPSG. This information is given for the convenience of users of this International Standard and does not
constitute an endorsement by IEC of the trademark holder or any of its products. Compliance to this profile
does not require use of the trade name Ethernet Powerlink™. Use of the trade name Ethernet Powerlink™
requires permission of the trade name holder.
PROFIBUS is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIBUS. Use of the trade
name PROFIBUS requires permission of PROFIBUS International.
PROFINET is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFINET. Use of the trade
name PROFINET requires permission of PROFIBUS International.

– 8 – 61800-7-302  IEC:2007
IEC 61800 series IEC/TR 62390
Adjustable speed electrical power drive Device profile guideline

IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 – Interface definition
Generic PDS interface specification
Annex A Annex B Annex C Annex D
Mapping of Mapping of Mapping of Mapping of
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-200 – Profile specifications
IEC 61800-7-201 IEC 61800-7-202 IEC 61800-7-203 IEC 61800-7-204

Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-300 – Mapping of profiles to network technologies
IEC 61800-7-301 IEC 61800-7-302 IEC 61800-7-303 IEC 61800-7-304

Mapping of profile Mapping of profile Mapping of profile Mapping of profile
type 1 to: type 2 to: type 3 to: type 4 to:
• CANopen • DeviceNet • PROFIBUS • SERCOS I + II
• EtherCAT • ControlNet • PROFINET • SERCOS III
• ETHERNET • EtherNet/IP • EtherCAT
Powerlink
Figure 1 – Structure of IEC 61800-7

61800-7-302  IEC:2007 – 9 –
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-302: Generic interface and use
of profiles for power drive systems –
Mapping of profile type 2 to network technologies

1 Scope
IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing
communication systems by use of a generic interface model.
The functions specified in this part of IEC 61800-7 are not intended to ensure functional
safety. This requires additional measures according to the relevant standards, agreements
and laws.
TM
This part of IEC 61800-7 specifies the mapping of the profile type 2 (CIP Motion ) specified
in IEC 61800-7-202 onto different network technologies.
– DeviceNet™ (CP 2/3), see Clause 5,
– ControlNet™ (CP 2/1), see Clause 6,
– EtherNet/IP™ (CP 2/2), see Clause 7.
2 Normative references
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.
IEC 61158-4-2, Industrial communication networks – Fieldbus specifications – Part 4-2
(Ed.1.0): Data-link layer protocol specification – Type 2 elements
IEC 61158-5-2, Industrial communication networks – Fieldbus specifications – Part 5-2
(Ed.1.0): Application layer service definition – Type 2 elements
IEC 61158-6-2, Industrial communication networks – Fieldbus specifications – Part 6-2
(Ed.1.0): Application layer protocol specification – Type 2 elements
IEC 61588:2004, Precision clock synchronization protocol for networked measurement and
control systems
IEC 61800-7 (all parts), Adjustable speed electrical power drive systems – Generic interface
and use of profiles for power drive systems
IEC 61800-7-202, Adjustable speed electrical power drive systems – Part 7-202: Generic
interface and use of profiles for power drive systems – Profile type 2 specification

– 10 – 61800-7-302  IEC:2007
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1.1
actual value
value of a variable at a given instant
[IEV 351-21-02]
NOTE Actual value or actual variable are used in this part of the IEC 61800-7 series as input data of the
application control program to monitor feedback variables or other process variables of the PDS.
3.1.2
application
software functional element specific to the solution of a problem in industrial-process
measurement and control
NOTE An application may be distributed among resources, and may communicate with other applications.
[IEC/TR 62390:2005, 3.1.2, modified]
3.1.3
attribute
property or characteristic of an entity
[IEC/TR 62390:2005, 3.1.3]
3.1.4
axis
logical element of a motion control system that exhibits some form of movement
NOTE 1 Axes can be rotary or linear, physical or virtual, controlled or simply observed.
NOTE 2 A physical axis may include one or more of the following components: a motion sensor, a motion control
structure, a power amplifier, and a motion actuator.
3.1.5
CIP Motion™
extensions to the CIP services and protocol to support motion control over CIP networks
3.1.6
CIP (Motion) drive
drive that complies with the CIP (Motion) specification
3.1.7
CIP Motion drive profile
collection of objects used to implement a CIP Motion drive device that includes the Motion
Axis Object, as well as standard support objects like the Identity Object and the Time Sync
Object
—————————
CIP Motion™ and CIP Sync™ are trade names of Open DeviceNet Vendor Association, Inc. This information is
given for the convenience of users of this International Standard and does not constitute an endorsement by
IEC of the trademark holder or any of its products. Compliance to this profile does not require use of the trade
names CIP Motion™ or CIP Sync™. Use of the trade names CIP Motion™ or CIP Sync™ requires permission of
Open DeviceNet Vendor Association, Inc.

61800-7-302  IEC:2007 – 11 –
3.1.8
CIP Motion I/O connection
periodic bi-directional, class 1, CIP connection between a controller and a drive that is defined
as part of the CIP Motion specification
3.1.9
CIP Sync™
extensions to the CIP services and protocol to encapsulate IEC 61588:2004 time
synchronisation functionality over a CIP Network (see Time Sync Object in IEC 61158-5-2 and
IEC 61158-6-2)
3.1.10
class
description of a set of objects that share the same attributes, operations, methods,
relationships, and semantics
[ISO/IEC 19501, modified]
3.1.11
closed loop
methods of control where there is a feedback signal of some kind that is used to drive the
actual dynamics of the motor to match the commanded dynamics by servo action.
NOTE In most cases, there is a literal feedback device to provide this signal, but in some cases, the signal is
derived from the motor excitation (i.e. sensorless operation).
3.1.12
commands
set of commands from the application control program to the PDS to control the behaviour of
the PDS or functional elements of the PDS
NOTE 1 The behaviour is reflected by states or operating modes.
NOTE 2 The different commands may be represented by one bit each.
3.1.13
control
purposeful action on or in a process to meet specified objectives
[IEV 351-21-29]
3.1.14
control device
physical unit that contains – in a module/subassembly or device – an application program to
control the PDS
3.1.15
cyclic data block
high priority real-time data block that is transferred by a CIP Motion connection on a periodic
basis
3.1.16
data type
set of values together with a set of permitted operations
[ISO/IEC 2382-15:1999, 15.04.01, modified]

– 12 – 61800-7-302  IEC:2007
3.1.17
device
field device
networked independent physical entity of an industrial automation system capable of
performing specified functions in a particular context and delimited by its interfaces
[IEC 61499-1:2005, 3.30, modified]
entity that performs control, actuating and/or sensing functions and interfaces to other such
entities within an automation system
[ISO 15745-1:2003, 3.11]
3.1.18
device profile
representation of a device in terms of its parameters, parameter assemblies and behaviour
according to a device model that describes the device’s data and behaviour as viewed
through a network
NOTE This is a definition from IEC/TS 61915 which is extended by the addition of the device functional structure.
[IEC/TR 62390:2005, 3.19, modified]
3.1.19
drive
device designed to control the dynamics of a motor
3.1.20
event data block
medium priority real-time data block that is transferred by a CIP Motion connection only after
a specified event occurs
NOTE Registration and marker input transitions are typical drive events.
3.1.21
feedback variable
variable which represents a controlled variable and which is returned to a comparing element
[IEV 351-27-03]
3.1.22
functional element
entity of software or software combined with hardware, capable of accomplishing a specified
function of a device
NOTE 1 A functional element has an interface, associations to other functional elements and functions.
NOTE 2 A functional element can be made out of function block(s), object(s) or parameter list(s).
[IEC/TR 62390:2005, 3.1.12]
3.1.23
get/read
operation that involves the retrieving of an attribute value from the perspective of the
controller side of the interface
3.1.24
I/O data
includes the input data composed by commands and set-points and output data composed of
status and actual values
61800-7-302  IEC:2007 – 13 –
3.1.25
input data
data transferred from an external source into a device, resource or functional element
[IEC/TR 62390:2005, 3.1.14]
3.1.26
interface
shared boundary between two entities defined by functional characteristics, signal
characteristics, or other characteristics as appropriate
[IEV 351-21-35, modified]
3.1.27
model
mathematical or physical representation of a system or a process, based with sufficient
precision upon known laws, identification or specified suppositions
[IEV 351-21-36]
3.1.28
motion
any aspect of the dynamics of an axis
NOTE In the context of this part of IEC 61800-7, it is not limited to servo drives, but encompasses all forms of
drive based motor control.
3.1.29
Motion Axis Object
object that defines the attributes, services, and behaviour of a motion device based axis
according to the CIP Motion specification
3.1.30
open loop
methods of control where there is no application of feedback to force the actual motor
dynamics to match the commanded dynamics
EXAMPLE Examples of open loop control are stepper drives and variable frequency drives.
3.1.31
operating mode
characterisation of the way and the extent to which the human operator intervenes in the
control equipment
[IEV 351-31-01]
3.1.32
output data
data originating in a device, resource or functional element and transferred from them to
external systems
[IEC/TR 62390:2005, 3.1.21]
3.1.33
parameter
data element that represents device information that can be read from or written to a device,
for example through the network or a local HMI
NOTE 1 Adapted from IEC/TS 61915.
NOTE 2 A parameter is typically characterized by a parameter name, data type and access direction.

– 14 – 61800-7-302  IEC:2007
[IEC/TR 62390:2005, 3.1.22, modified]
3.1.34
profile
representation of a PDS interface in terms of its parameters, parameter assemblies and
behaviour according to a communication profile and a device profile
3.1.35
service data block
lower priority real-time data block associated with a service message from the controller that
is transferred by a CIP Motion connection on a periodic basis
NOTE Service data includes service request messages to access Motion Axis Object attributes or perform various
drive diagnostics.
3.1.36
set-point
value or variable used as output data of the application control program to control the PDS
3.1.37
set/write
operation that involves the setting of an attribute to a specified value from the perspective of
the controller side of the interface
3.1.38
status
set of information from the PDS to the application control program reflecting the state or mode
of the PDS or a functional element of the PDS
NOTE The different status information may be coded with one bit each.
3.1.39
synchronised
condition where the local clock value on the drive is locked onto the master clock of the
distributed System Time
NOTE When synchronised, the drive and controller devices may utilise time stamps associated with CIP Motion
connection data.
3.1.40
System Time
absolute time value as defined in the CIP Sync specification in the context of a distributed
time system where all devices have a local clock that is synchronised with a common master
clock
NOTE  In the context of CIP Motion, System Time is a 64-bit integer value in units of nanoseconds with a value of
0 corresponding to the date 1970-01-01.
3.1.41
time stamp
System Time stamp value associated with the CIP Motion connection data that conveys the
absolute time when the associated data was captured, or that can also be used to determine
when the associated data shall be applied
3.1.42
type
hardware or software element which specifies the common attributes shared by all instances
of the type
[IEC/TR 62390:2005, 3.1.25]
61800-7-302  IEC:2007 – 15 –
3.1.43
variable
software entity that may take different values, one at a time
[IEC/TR 62390:2005, 3.1.27]
NOTE The values of a variable as well as of a parameter are usually restricted to a certain data type.
3.1.44
Variable Frequency Drive
VFD
class of drive products that seek to control the speed of a motor, typically an induction motor,
through a proportional relationship between drive output voltage and commanded output
frequency
NOTE Variable Frequency Drives are therefore sometimes referred to as a Volts/Hertz drives.
3.2 Abbreviated terms
Ack Acknowledge
Act Actual
Blk Block
CIP™ Common Industrial Protocol (see IEC 61158 Type 2, IEC 61784-1 and
IEC 61784-2 CPF2)
Cmd Command
Cyc Cyclic
ID Identifier
I/O Input/Output
IP Internet Protocol (see RFC 791 and RFC 894)
PDS Power Drive System
TCP Transmission Control Protocol (see RFC 793)
UDP User Datagram Protocol (see RFC 768)
4 Principles for mapping CIP Motion™
4.1 General principles for mapping CIP Motion™
CIP Motion™ defines extensions to the CIP services and protocol to support motion control
over CIP-based networks. DeviceNet™, ControlNet™, and EtherNet/IP™ each use the
Common Industrial Protocol (CIP) for its upper-layers (Transport, Application and User
layers).
CIP is a connection based object oriented protocol. Each object has attributes (data), services
(methods) and behavior (reaction to events). For a given device type, for example a CIP
Drive, a minimum set of objects shall be implemented: these are defined in the corresponding
Device Profile. The Device Profile and the associated object specifications provide
interoperability among these devices regardless of the manufacturer, thus facilitating their use
and integration. In particular, CIP Drives that follow one of the standard CIP Drive device
profiles will have the same status and configuration attributes, will respond to the same
commands, and will exhibit the same behavior.
Since CIP-based networks are based on a common application layer, the application data
remains the same regardless of which network hosts the device. The application programmer
does not even need to know to which network a device is connected. Figure 2 shows an
overview of CIP within the context of the OSI Model and illustrates the current CIP
adaptations of DeviceNet, ControlNet, and EtherNet/IP.

– 16 – 61800-7-302  IEC:2007
Figure 2 – Overview of CIP-based networks
4.2 Mapping CIP Motion™
A CIP Motion drive device controls the motion of one or more drive axes, typically consisting
of a rotary or linear motor actuator. Each associated motor is driven by an associated drive
power structure that is also part of the device. Motion control functionality supported by the
CIP Motion drive device profile can be either open loop (stepper, V/Hz) or closed loop (servo
drives). In either case, axis motion is controlled via a command reference that can be
configured for position control, velocity control, acceleration control, or current/torque control.
The CIP Motion drive profile specification in IEC 61800-7-202 defines the interface, the
specific attributes, and command behaviours of a CIP Motion compliant drive as seen by a
CIP Motion compliant controller.
As shown in Figure 2, the common application layer interface provided by CIP greatly
simplifies the task of mapping a CIP device profile onto the various CIP based network
technologies.
The only network dependent consideration that needs to be taken into account when
implementing the CIP Motion drive profile is in establishing the network performance
limitations. The high bandwidth of EtherNet/IP allows use of a highly flexible variable Drive
Connection data structure, while with DeviceNet it may be better to use the much smaller
fixed Drive Connection structure due to the 8-byte data frame capacity of CAN. Nevertheless,
there is no technical reason or specification limitations preventing the use of the variable CIP
Motion Drive Connection and associated time synchronisation over DeviceNet or ControlNet.
For the critical time synchronisation function, a dedicated Time Sync Object has been
specified (see IEC 61158-5-2 and IEC 61158-6-2). ControlNet has an inherently synchronised
data link layer, EtherNet/IP utilises the IEC 61588:2004 standard directly, and the use of the
IEC 61588:2004 Standard on DeviceNet has also been defined.

61800-7-302  IEC:2007 – 17 –
Other than performance, there is no differentiation between CIP Motion running over any of
the three existing CIP networks.
4.3 Data types
Table 1 shows references of data types used in CIP Motion drive profile and their related
definitions. As these are the CIP native data types, there is no need for any mapping when
using DeviceNet, ControlNet or EtherNet/IP.
Table 1 – Data types
Data Types used in Reference to definition
CIP Motion
BOOL Boolean (see 5.3.1.1.2 of IEC 61158-5-2)
SINT Integer8 (see 5.3.1.4.2.2 of IEC 61158-5-2)
INT Integer16 (see 5.3.1.4.2.4 of IEC 61158-5-2)
DINT Integer32 (see 5.3.1.4.2.6 of IEC 61158-5-2)
LINT Integer64 (see 5.3.1.4.2.8 of IEC 61158
...