IEC 61800-7-201:2015

IEC 61800-7-201 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Entraînements électriques de puissance à vitesse variable –
Partie 7-201: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Spécification de profil de type 1

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IEC 61800-7-201 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –

Part 7-201: Generic interface and use of profiles for power drive systems –

Profile type 1 specification
Entraînements électriques de puissance à vitesse variable –

Partie 7-201: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Spécification de profil de type 1

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2934-7

– 2 – IEC 61800-7-201:2015 © IEC 2015
CONTENTS
FOREWORD . 17
INTRODUCTION . 19
1 Scope . 23
2 Normative references . 23
3 Terms, definitions and abbreviated terms . 23
3.1 Terms and definitions . 23
3.2 Abbreviated terms . 27
4 General . 28
4.1 General considerations . 28
4.2 Communication interface. 28
4.3 Object dictionary . 29
5 Data types . 30
5.1 Standard data types . 30
5.2 Record definitions . 30
6 General object definitions . 31
6.1 General . 31
6.2 Communication parameter objects . 31
6.3 Additional identification and information objects . 32
6.3.1 Object 6402 : Motor type . 32
h
6.3.2 Object 6403 : Motor catalogue number . 33
h
6.3.3 Object 6404 : Motor manufacturer . 34
h
6.3.4 Object 6405 : http motor catalogue address . 35
h
6.3.5 Object 6406 : Motor calibration date . 35
h
6.3.6 Object 6407 : Motor service period . 36
h
6.3.7 Object 6503 : Drive catalogue number . 36
h
6.3.8 Object 6505 : http drive catalogue address . 37
h
7 Error codes and error behavior . 37
7.1 Error codes . 37
7.2 Error behavior . 41
8 Controlling the power drive system . 42
8.1 General . 42
8.2 Finite state automaton . 42
8.3 Modes of operation . 45
8.4 Detailed object specifications . 46
8.4.1 Object 6040 : Controlword . 46
h
8.4.2 Object 6041 : Statusword . 47
h
8.4.3 Object 603F : Error code . 49
h
8.4.4 Object 6007 : Abort connection option code . 50
h
8.4.5 Object 605A : Quick stop option code . 51
h
8.4.6 Object 605B : Shutdown option code . 51
h
8.4.7 Object 605C : Disable operation option code . 52
h
8.4.8 Object 605D : Halt option code . 53
h
8.4.9 Object 605E : Fault reaction option code . 54
h
8.4.10 Object 6060 : Modes of operation . 54
h
8.4.11 Object 6061 : Modes of operation display . 56
h
8.4.12 Object 6502 : Supported drive modes . 56
h
9 Factor group . 57
9.1 General . 57
9.2 Detailed object definitions . 59
9.2.1 Object 608F : Position encoder resolution . 59
h
9.2.2 Object 6090 : Velocity encoder resolution . 60
h
9.2.3 Object 6091 : Gear ratio . 61
h
9.2.4 Object 6092 : Feed constant . 62
h
9.2.5 Object 6096 : Velocity factor . 64
h
9.2.6 Object 6097 : Acceleration factor . 64
h
9.2.7 Object 60A2 : Jerk factor . 65
h
9.2.8 Object 607E : Polarity . 66
h
9.2.9 Code table for device profile specific units . 67
9.2.10 Object 60A8 : SI unit position . 67
h
9.2.11 Object 60A9 : SI unit velocity . 68
h
9.2.12 Object 60AA : SI unit acceleration . 69
h
9.2.13 Object 60AB : SI unit jerk . 70
h
10 Profile position mode . 70
10.1 General information . 70
10.2 Functional description . 71
10.2.1 General . 71
10.2.2 Single set-point . 72
10.2.3 Set of set-points . 73
10.2.4 Usage of halt bit in conjunction with new set-point bit . 74
10.3 General definitions . 75
10.4 Use of controlword and statusword . 75
10.5 Detailed object definitions . 76
10.5.1 Object 607A : Target position . 76
h
10.5.2 Object 607B : Position range limit . 77
h
10.5.3 Object 607D : Software position limit . 78
h
10.5.4 Object 607F : Max profile velocity . 80
h
10.5.5 Object 6080 : Max motor speed . 81
h
10.5.6 Object 6081 : Profile velocity . 81
h
10.5.7 Object 6082 : End velocity . 82
h
10.5.8 Object 6083 : Profile acceleration . 82
h
10.5.9 Object 6084 : Profile deceleration . 83
h
10.5.10 Object 6085 : Quick stop deceleration. 83
h
10.5.11 Object 6086 : Motion profile type . 84
h
10.5.12 Object 60A3 : Profile jerk use . 85
h
10.5.13 Object 60A4 : Profile jerk . 85
h
10.5.14 Object 60C5 : Max acceleration . 87
h
10.5.15 Object 60C6 : Max deceleration . 88
h
11 Homing mode . 89
11.1 General information . 89
11.2 Functional description . 89
11.3 General definitions . 90
11.3.1 General . 90
11.3.2 Method 1: Homing on negative limit switch and index pulse . 90
11.3.3 Method 2: Homing on positive limit switch and index pulse . 90

– 4 – IEC 61800-7-201:2015 © IEC 2015
11.3.4 Method 3 and 4: Homing on positive home switch and index pulse . 90
11.3.5 Method 5 and 6: Homing on negative home switch and index pulse . 91
11.3.6 Method 7 to 14: Homing on home switch and index pulse . 91
11.3.7 Method 15 and 16: Reserved . 92
11.3.8 Method 17 to 30: Homing without index pulse . 92
11.3.9 Method 31 and 32: Reserved . 93
11.3.10 Method 33 and 34: Homing on index pulse . 93
11.3.11 Method 35: Homing on current position (obsolete) . 93
11.3.12 Method 36: Reserved for compatibility reasons . 93
11.3.13 Method 37: Homing on current position . 93
11.4 Use of controlword and statusword . 94
11.5 Detailed object definitions . 94
11.5.1 Object 607C : Home offset . 94
h
11.5.2 Object 6098 : Homing method . 95
h
11.5.3 Object 60E3 : Supported homing methods . 96
h
11.5.4 Object 6099 : Homing speeds . 97
h
11.5.5 Object 609A : Homing acceleration . 98
h
12 Touch probe functionality. 99
12.1 Object 60B8 : Touch probe function . 99
h
12.2 Object 60B9 : Touch probe status . 101
h
12.3 Object 60BA : Touch probe 1 positive edge . 102
h
12.4 Object 60BB : Touch probe 1 negative edge . 102
h
12.5 Object 60BC : Touch probe 2 positive edge . 103
h
12.6 Object 60BD : Touch probe 2 negative edge . 103
h
12.7 Object 60D0 : Touch probe source . 104
h
12.8 Touch probe time stamp latch . 105
12.8.1 General . 105
12.8.2 Object 60D1 : Touch probe time stamp 1 positive value . 106
h
12.8.3 Object 60D2 : Touch probe time stamp 1 negative value . 106
h
12.8.4 Object 60D3 : Touch probe time stamp 2 positive value . 107
h
12.8.5 Object 60D4 : Touch probe time stamp 2 negative value . 107
h
12.9 Touch probe edge counter for continuous mode . 108
12.9.1 General . 108
12.9.2 Object 60D5 : Touch probe 1 positive edge counter . 108
h
12.9.3 Object 60D6 : Touch probe 1 negative edge counter . 108
h
12.9.4 Object 60D7 : Touch probe 2 positive edge counter . 109
h
12.9.5 Object 60D8 : Touch probe 2 negative edge counter . 110
h
12.10 Timing diagram for touch probe example . 110
13 Position control function . 112
13.1 General information . 112
13.2 Functional description . 112
13.3 Detailed object definitions . 114
13.3.1 Object 6062 : Position demand value . 114
h
13.3.2 Object 6063 : Position actual internal value . 115
h
13.3.3 Object 6064 : Position actual value . 115
h
13.3.4 Object 6065 : Following error window . 116
h
13.3.5 Object 6066 : Following error time out . 117
h
13.3.6 Object 6067 : Position window . 117
h
13.3.7 Object 6068 : Position window time . 118
h
13.3.8 Object 60F4 : Following error actual value . 118
h
13.3.9 Object 60FA : Control effort . 119
h
13.3.10 Object 60FC : Position demand internal value . 119
h
13.3.11 Object 60F2 : Positioning option code . 120
h
14 Interpolated position mode . 123
14.1 General information . 123
14.2 Functional description . 125
14.2.1 General . 125
14.2.2 Linear interpolated position mode with several axes . 125
14.2.3 Buffer strategies for the interpolated position mode . 127
14.2.4 Interpolated position mode FSA . 128
14.3 General definitions . 129
14.4 Use of controlword and statusword . 129
14.5 Detailed object definitions . 130
14.5.1 Object 60C0 : Interpolation sub mode select . 130
h
14.5.2 Object 60C1 : Interpolation data record. 131
h
14.5.3 Object 60C2 : Interpolation time period . 132
h
14.5.4 Object 60C4 : Interpolation data configuration . 133
h
15 Profile velocity mode . 136
15.1 General information . 136
15.2 Functional description . 136
15.3 General definitions . 137
15.4 Use of controlword and statusword . 137
15.5 Detailed object definitions . 138
15.5.1 Object 6069 : Velocity sensor actual value . 138
h
15.5.2 Object 606A : Sensor selection code . 139
h
15.5.3 Object 606B : Velocity demand value . 139
h
15.5.4 Object 606C : Velocity actual value . 140
h
15.5.5 Object 606D : Velocity window . 140
h
15.5.6 Object 606E : Velocity window time . 141
h
15.5.7 Object 606F : Velocity threshold . 141
h
15.5.8 Object 6070 : Velocity threshold time . 142
h
15.5.9 Object 60FF : Target velocity . 142
h
15.5.10 Object 60F8 : Max slippage . 143
h
16 Profile torque mode . 144
16.1 General information . 144
16.2 Functional description . 144
16.3 General definitions . 145
16.4 Use of controlword and statusword . 145
16.5 Detailed object definitions . 145
16.5.1 Object 6071 : Target torque . 145
h
16.5.2 Object 6072 : Max torque . 146
h
16.5.3 Object 60E0 : Positive torque limit value . 146
h
16.5.4 Object 60E1 : Negative torque limit value . 147
h
16.5.5 Object 6073 : Max current . 148
h
16.5.6 Object 6074 : Torque demand . 148
h
16.5.7 Object 6075 : Motor rated current . 149
h
16.5.8 Object 6076 : Motor rated torque . 149
h
16.5.9 Object 6077 : Torque actual value . 150
h
– 6 – IEC 61800-7-201:2015 © IEC 2015
16.5.10 Object 6078 : Current actual value . 150
h
16.5.11 Object 6079 : DC link circuit voltage . 151
h
16.5.12 Object 6087 : Torque slope . 151
h
16.5.13 Object 6088 : Torque profile type . 152
h
17 Velocity mode . 152
17.1 General information . 152
17.2 Functional description . 153
17.2.1 Ramp function . 153
17.2.2 Velocity control function . 154
17.2.3 Factor function. 154
17.3 General definitions . 155
17.4 Use of controlword and statusword . 155
17.5 Detailed object definitions . 156
17.5.1 Object 6042 : vl target velocity . 156
h
17.5.2 Object 6043 : vl velocity demand . 156
h
17.5.3 Object 6044 : vl velocity actual value . 157
h
17.5.4 Object 6046 : vl velocity min max amount . 158
h
17.5.5 Object 6049 : vl velocity deceleration . 159
h
17.5.6 Object 6048 : vl velocity acceleration . 160
h
17.5.7 Object 604A : vl velocity quick stop . 162
h
17.5.8 Object 604B : vl set-point factor . 163
h
17.5.9 Object 604C : vl dimension factor . 164
h
18 Cyclic synchronous position mode . 166
18.1 General information . 166
18.2 Functional description . 166
18.3 Use of controlword and statusword . 167
18.4 Detailed object definitions . 168
18.4.1 Object 60B0 : Position offset . 168
h
18.4.2 Object 60B1 : Velocity offset . 168
h
18.4.3 Object 60B2 : Torque offset . 169
h
19 Cyclic synchronous velocity mode . 170
19.1 General information . 170
19.2 General definitions . 171
19.3 Functional description . 171
19.4 Use of controlword and statusword . 171
20 Cyclic synchronous torque mode . 172
20.1 General information . 172
20.2 General definitions . 173
20.3 Functional description . 173
20.4 Use of controlword and statusword . 173
21 Cyclic synchronous torque mode with commutation angle (cstca) . 174
21.1 General information . 174
21.2 General definitions . 175
21.3 Functional description . 175
21.4 Use of controlword and statusword . 175
21.5 Object 60EA : Commutation angle . 176
h
22 Support of additional sensor interfaces . 176
22.1 General . 176

22.2 Object 60E4 : Additional position actual value . 177
h
22.3 Object 60E5 : Additional velocity actual value . 178
h
22.4 Object 60E6 : Additional position encoder resolution – encoder increments . 179
h
22.5 Object 60EB : Additional position encoder resolution – motor revolutions . 180
h
22.6 Object 60E7 : Additional velocity encoder resolution – encoder increments
h
per second . 182
22.7 Object 60EC : Additional velocity encoder resolution – motor revolutions per
h
second . 183
22.8 Object 60E8 : Additional gear ratio – motor shaft revolutions . 185
h
22.9 Object 60ED : Additional gear ratio – driving shaft revolutions . 186
h
22.10 Object 60E9 : Additional feed constant – feed . 186
h
22.11 Object 60EE : Additional feed constant – driving shaft revolutions . 188
h
23 Optional application FE . 189
23.1 General . 189
23.2 Object 60FD : Digital inputs . 189
h
23.3 Object 60FE : Digital outputs . 190
h
24 Device information . 191
24.1 General . 191
24.2 Object 67FE : Version number . 191
h
Bibliography . 193

Figure 1 – Structure of IEC 61800-7 . 22
Figure 2 – Value definition . 31
Figure 3 – Remote and local control . 42
Figure 4 – Power drive system finite state automaton . 43
Figure 5 – Relation between different value parameters . 46
Figure 6 – Value definition . 46
Figure 7 – Value definition . 48
Figure 8 – Value definition . 56
Figure 9 – Position scaling concept . 58
Figure 10 – Value definition . 67
Figure 11 – Example for a position unit . 68
Figure 12 – Example for a velocity unit . 69
Figure 13 – Example for an acceleration unit . 70
Figure 14 – Example for a jerk unit . 70
Figure 15 – Trajectory generator and position control function . 71
Figure 16 – Trajectory generator for profile position mode . 71
Figure 17 – Set-point example . 72
Figure 18 – Handshaking procedure for the single set-point method . 72
Figure 19 – Handshaking procedure for the set of set-points method . 73
Figure 20 – Set-point handling for two set-points . 74
Figure 21 – Erase set-point . 75
Figure 22 – Controlword for profile position (pp) mode . 75
Figure 23 – Statusword for profile position (pp) mode . 76
Figure 24 – Software position limits . 79
Figure 25 – Velocity/time diagram with jerk positions . 86

– 8 – IEC 61800-7-201:2015 © IEC 2015
Figure 26 – Homing mode function. 89
Figure 27 – Homing on negative limit switch and index pulse . 90
Figure 28 – Homing on positive limit switch and index pulse . 90
Figure 29 – Homing on positive home switch and index pulse . 91
Figure 30 – Homing on negative home switch and index pulse . 91
Figure 31 – Homing on home switch and index pulse – positive initial motion . 92
Figure 32 – Homing on home switch and index pulse – negative initial motion . 92
Figure 33 – Homing on positive home switch . 93
Figure 34 – Homing on index pulse . 93
Figure 35 – Controlword for homing mode. 94
Figure 36 – Statusword for homing mode . 94
Figure 37 – Home offset definition . 95
Figure 38 – Timing diagram for touch probe example . 111
Figure 39 – Position control function . 112
Figure 40 – Following error (functional overview) . 113
Figure 41 – Position reached (functional overview) . 113
Figure 42 – Position reached (definitions) . 114
Figure 43 – Following error (definitions) . 114
Figure 44 – Object structure. 120
Figure 45 – Rotary axis positioning example . 122
Figure 46 – Example for absolute movement greater than modulo value . 122
Figure 47 – Example for relative movement greater than modulo value . 123
Figure 48 – Interpolation controller . 125
Figure 49 – Interpolated position mode for two axes . 126
Figure 50 – Linear interpolation for one axis . 127
Figure 51 – Input buffer organization . 128
Figure 52 – Input buffer examples . 128
Figure 53 – Interpolated position mode FSA . 129
Figure 54 – Controlword for interpolated position mode . 129
Figure 55 – Statusword for interpolated position mode . 130
Figure 56 – Profile velocity mode . 137
Figure 57 – Controlword for profile velocity mode . 137
Figure 58 – Statusword for profile velocity mode . 138
Figure 59 – Structure of the profile torque mode .
...