IEC 61800-7-203:2007

IEC 61800-7-203
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-203: Generic interface and use of profiles for power drive systems –
Profile type 3 specification
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IEC 61800-7-203
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-203: Generic interface and use of profiles for power drive systems –
Profile type 3 specification
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XH
ICS 29.200; 35.100.05 ISBN 2-8318-9377-1

– 2 – 61800-7-203 © IEC:2007(E)
CONTENTS
FOREWORD.10
INTRODUCTION.12

1 Scope.15
2 Normative references .15
3 Terms, definitions and abbreviatiated terms .16
3.1 Terms and definitions .16
3.2 Abbreviated terms .20
4 General .21
4.1 Background .21
4.2 Requirements.22
4.3 Goals of the PROFIdrive Profile .22
5 Data types.22
5.1 Data types overview .22
5.2 Standard data types .23
5.3 Profile-specific data types .23
5.3.1 General .23
5.3.2 Normalised value: N2, N4 .24
5.3.3 Normalised value (variable normalisation): X2, X4.24
5.3.4 Fixed point value: E2 .25
5.3.5 Fixed point value: C4.25
5.3.6 Bit sequence: V2 .26
5.3.7 Nibble: L2.26
5.3.8 Time constant: T2, T4.26
5.3.9 Time constant: D2 .27
5.3.10 Reciprocal time constant: R2 .27
6 Specifications .27
6.1 Integration of drives in automation systems.27
6.1.1 General .27
6.1.2 Base Model .27
6.1.3 Drive Model .35
6.1.4 P-Device communication model.39
6.1.5 Application Model and Application Classes .40
6.2 Parameter model.46
6.2.1 Parameter definition .46
6.2.2 Global and Local Parameters.58
6.2.3 Base Mode Parameter Access.59
6.3 Drive control application process.78
6.3.1 General Axis type Drive Object architecture.78
6.3.2 Control and Status words .81
6.3.3 Operating modes and State Machine .87
6.3.4 DO IO Data .103
6.3.5 Dynamic Servo Control (DSC) .114
6.3.6 Position feedback interface.118
6.3.7 Periphery.140
6.3.8 Warnings, messages, faults, diagnostics . 141

61800-7-203 © IEC:2007(E) – 3 –
6.3.9 Identification.150
6.3.10 Drive reset (power-on reset) .153
6.3.11 Operation priority of parameters and control priority . 155
6.3.12 User data reliability.157
6.3.13 Specified DO functions for the Application Classes.161
6.4 Parameter Definition.163
6.4.1 PROFIdrive Parameter listed by Function .163
6.4.2 PROFIdrive Parameter listed by number. 167
6.5 Integration of Drives in Process Technology (VIK-NAMUR) .176
6.5.1 General .176
6.5.2 Commands and Checkback Signals .177
6.5.3 State diagrams .179
6.5.4 Inevitable line interruption and external interlock . 181
6.5.5 Standard telegram .182

Bibliography.184

Figure 1 – Structure of IEC 61800-7.14
Figure 2 – PROFIdrive Devices and there relationship .28
Figure 3 – General Communication Model of a PROFIdrive Automation System .29
Figure 4 – The PROFIdrive Device (consists of one or several Functional Objects).30
Figure 5 – Hierarchical order in the Object Model .31
Figure 6 – PROFIdrive Base Model contains the “Application Layer” and
“Communication Layer”.32
Figure 7 – Typical use case for Clock Synchronous Operation .33
Figure 8 – General Model for Clock Synchronous Operation .34
Figure 9 – Base Model State Machine.35
Figure 10 – General Drive Unit model .36
Figure 11 – General Drive Object architecture .37
Figure 12 – Principle functional model of an Axis type Drive Object .37
Figure 13 – Classes of PROFIdrive P-Devices .38
Figure 14 – Classes of PROFIdrive Drive Units.39
Figure 15 – Overview about the available Communication Services between the
PROFIdrive Devices .39
Figure 16 – Application Class 1 .41
Figure 17 – Application Class 2 .42
Figure 18 – Application Class 3 .43
Figure 19 – Application Class 4 .44
Figure 20 – Application Class 5 .45
Figure 21 – Application Class 6 .46
Figure 22 – Example overview of global and local parameters of a Multi-Axis/Modular
Drive Unit .59
Figure 23 – Byte order for Words and Double words .60
Figure 24 – Data flow for Base Mode Parameter Access.67
Figure 25 – General functional elements of the PROFIdrive Axis type DO.79
Figure 26 – Functional block diagram of the PROFIdrive Axis type DO .80

– 4 – 61800-7-203 © IEC:2007(E)
Figure 27 – General state diagram for all operating modes .89
Figure 28 – General functionality of a PROFIdrive Axis DO with Application Class 1
functionality .91
Figure 29 – Speed setpoint channel for use in Application Class 1 and 4 .92
Figure 30 – General functionality of a PROFIdrive Axis DO with Application Class 4
functionality .93
Figure 31 – Reduced speed setpoint channel for use in Application Class 4 (optional).94
Figure 32 – General functionality of a PROFIdrive Axis DO with Application Class 3
functionality .95
Figure 33 – Functionality of the Motion Controller in the Program submode .96
Figure 34 – Functionality of the Motion Controller in the MDI submode .97
Figure 35 – State diagram of the positioning mode in Program-submode .99
Figure 36 – State diagram of the positioning mode in MDI-submode . 100
Figure 37 – Homing Procedure: Home Position Set.101
Figure 38 – Homing Procedure: Abortion by the controller . 101
Figure 39 – Traversing Task Active.102
Figure 40 – Change of the traversing tasks immediately .102
Figure 41 – Example for configuring a telegram . 111
Figure 42 – Structure of the position control circuit based on the velocity setpoint
interface without DSC .114
Figure 43 – Structure of the position control circuit based on the velocity setpoint
interface with DSC .115
Figure 44 – Example of the sensor interface (Sensor-1: two actual values/Sensor-2:
one actual value) .119
Figure 45 – Actual value format, example 1 .123
Figure 46 – Actual value format, example 2 .123
Figure 47 – Actual value format, example 3 .123
Figure 48 – Actual value format, example 4 .124
Figure 49 – Actual value format, example 5 .124
Figure 50 – Actual value format, example 6 .124
Figure 51 – Actual value format, example 7 .124
Figure 52 – Actual value format, example 8 .125
Figure 53 – State diagram of the position feedback interface with designations of the
states and transitions.130
Figure 54 – Acknowledgement of acknowledgeable sensor error. 135
Figure 55 – Acknowledgement of unacknowledgeable sensor error.136
Figure 56 – Timing diagram: Measurement on the fly – sequence 1 .137
Figure 57 – Timing diagram: Measurement on the fly – sequence 2 .138
Figure 58 – Timing diagram: Reference mark search .139
Figure 59 – Overview about the diagnostic mechanisms of PROFIdrive .141
Figure 60 – Working of the warning mechanism .142
Figure 61 – Overview about the fault buffer mechanism .143
Figure 62 – Fault acknowledgement for the fault buffer mechanism . 144
Figure 63 – Processing of the fault messages in the fault buffer mechanism . 145
Figure 64 – Fault buffer (subsequent system) with example .147

61800-7-203 © IEC:2007(E) – 5 –
Figure 65 – Fault number list with example .148
Figure 66 – Drive reset: Direct initiation (P972 = 1).155
Figure 67 – Example: Long term Sign-Of-Life failure of the controller. 158
Figure 68 – Example: Temporary failure of the controller LS (negative deviation) . 158
Figure 69 – Example: Temporary failure of the controller LS (positive deviation; double
step) .158
Figure 70 – Example: Permanent failure of the DO LS . 159
Figure 71 – Example: Temporary failure of the DO LS (negative deviation). 160
Figure 72 – Example: Temporary failure of the DO LS (positive deviation; double step) .160
Figure 73 – Value of the DO Sign-Of-Life failure counter (axis-specific) with respect to
the transferred controller Sign-Of-Life.161
Figure 74 – Functionality and Interfaces for drive integration according to VIK-NAMUR .176
Figure 75 – Principle structure of the drive interface according to VIK-NAMUR
guideline.177
Figure 76 – Speed setpoint channel for VIK-NAMUR process technology operating
mode .180
Figure 77 – Process technology operating mode, control word 1 bit 15 and status word
1 bit 10,11,13,14.181
Figure 78 – Process technology operating mode, inevitable line interruption and
external interlock .182

Table 1 – Standard data types .23
Table 2 – Profile specific data types .23
Table 3 – N2, N4-Range of values .24
Table 4 – N2, N4-Coding .24
Table 5 – X2, X4-Range of values.25
Table 6 – X2, X4-Coding (example x=12/28) .25
Table 7 – E2-Range of values.25
Table 8 – E2-Coding .25
Table 9 – C4-Range of values.26
Table 10 – V2-Coding .26
Table 11 – L2-Coding .26
Table 12 – T2, T4-Range of values .26
Table 13 – D2-Range of values.27
Table 14 – R2-Range of values.27
Table 15 – Application Classes .40
Table 16 – Parameter definition .46
Table 17 – Parameter description elements .47
Table 18 – Parameter description element "Identifier (ID)" .48
Table 19 – Parameter description element "variable attribute“ .48
Table 20 – Variable index and conversion index for SI units .49
Table 21 – Conversion values for the conversion index (SI units).53
Table 22 – Variable index and conversion index for US units .54
Table 23 – Conversion values for the conversion index (US units) .55

– 6 – 61800-7-203 © IEC:2007(E)
Table 24 – Parameter Description Elements “IO Data Reference Value/IO Data
Normalisation“ .57
Table 25 – Text array for parameter description.57
Table 26 – Text array for the data type Boolean.58
Table 27 – Text array for data type V2 (bit sequence).58
Table 28 – Base mode parameter request.61
Table 29 – Base mode parameter response .61
Table 30 – Permissible combinations consisting of attribute, number of elements and
subindex .64
Table 31 – Coding of the fields in parameter request/parameter response of Base
Mode Parameter Access .64
Table 32 – Error numbers in Base Mode parameter responses .65
Table 33 – General State machine for the Parameter Manager Processing .67
Table 34 – Sequence 1: Parameter request .68
Table 35 – Sequence 1: Parameter response positive with data of data type Word .68
Table 36 – Sequence 1: Parameter response positive with data of data type Double
word .69
Table 37 – Sequence 1: Parameter response, negative .69
Table 38 – Sequence 2: Parameter request .69
Table 39 – Sequence 2: Parameter response, positive.69
Table 40 – Sequence 2: Parameter response, negative .70
Table 41 – Sequence 3: Parameter request .70
Table 42 – Sequence 3: Parameter response, positive.70
Table 43 – Sequence 3: Parameter response, negative .70
Table 44 – Sequence 4: Parameter request .71
Table 45 – Sequence 4: Parameter response, positive.71
Table 46 – Sequence 4: Parameter response, negative .71
Table 47 – Sequence 5: Parameter request .71
Table 48 – Sequence 5: Parameter response, positive.72
Table 49 – Sequence 5: Parameter response, negative .72
Table 50 – Sequence 6: Parameter request .72
Table 51 – Sequence 6: Parameter response (+): all partial accesses OK.73
Table 52 – Sequence 6: Parameter response (-): first and third partial access OK,
second partial access erroneous.73
Table 53 – Sequence 7: Parameter request .73
Table 54 – Sequence 7: Parameter response (+): all partial accesses OK.74
Table 55 – Sequence 7: Parameter response (-): first and third partial access OK,
second partial access erroneous.74
Table 56 – Sequence 8: Parameter request .75
Table 57 – Sequence 8: Parameter response positive with data of the data type word
(for example ID).75
Table 58 – Sequence 8: Parameter response positive with text.75
Table 59 – Sequence 8: Parameter response, negative .75
Table 60 – Sequence 9: Parameter request .76
Table 61 – Sequence 9: Parameter response, positive.76

61800-7-203 © IEC:2007(E) – 7 –
Table 62 – Sequence 9: Parameter response, negative .76
Table 63 – Sequence 10: Parameter request .77
Table 64 – Sequence 10: Parameter response, positive.77
Table 65 – Sequence 10: Parameter response, negative .77
Table 66 – Sequence 11: Request of values, description and text in one request.77
Table 67 – Sequence 11: Parameter response (+): all partial accesses OK.78
Table 68 – Overview on the assignment of the bits of control word 1 .81
Table 69 – Detailed assignment of the common control word 1 bits (STW1) for speed
control/positioning.82
Table 70 – Detailed assignment of the special control word 1 bits (STW1) for speed
control mode.83
Table 71 – Detailed assignment of the special control word 1 bits (STW1) for the
positioning mode.83
Table 72 – Overview on the assignment of the bits of control word 2 .84
Table 73 – Overview on the assignment of the bits of status word 1.84
Table 74 – Detailed assignment of the common status word 1 bits (ZSW1) for the
speed control /positioning mode.85
Table 75 – Detailed assignment of the special status word 1 bits (ZSW1) for the speed
control mode.86
Table 76 – Detailed assignment of the special status word 1 bits (ZSW1) for the
positioning mode.86
Table 77 – Overview on the assignment of the bits of status word 2.86
Table 78 – Structure of “Status word bit Pulses Enabled”.87
Table 79 – Definition of signal SATZANW .98
Table 80 – Definition of signal AKTSATZ .98
Table 81 – Definition of signal MDI_MOD.98
Table 82 – Signal list – assignment.103
Table 83 – Definition of standard telegram 1.105
Table 84 – Definition of standard telegram 2.105
Table 85 – Definition of standard telegram 3.105
Table 86 – Definition of standard telegram 4.106
Table 87 – Definition of standard telegram 5.106
Table 88 – Definition of standard telegram 6.107
Table 89 – Definition of standard telegram 7.107
Table 90 – Definition of standard telegram 9.107
Table 91 – Definition of standard telegram 8.108
Table 92 – Parameters for configuring a telegram.108
Table 93 – Coding of P922 .109
Table 94 – Example A/B for normalising DO IO Data, parameter values. 112
Table 95 – Example A/B for normalising DO IO Data, parameter description elements. 113
Table 96 – Example C for normalising DO IO Data, parameter values. 113
Table 97 – Example C for normalising DO IO Data, parameter description elements. 113
Table 98 – Structure of parameter 979 (sensor format) .120
Table 99 – Subindex 0 (header) of parameter 979 . 120
Table 100 – Subindex 1 (sensor type) of parameter 979 . 121

– 8 – 61800-7-203 © IEC:2007(E)
Table 101 – Subindex 2 (sensor resolution) of parameter 979. 121
Table 102 – Assigning Gx_XIST2 (sensor-x position actual value-2) . 125
Table 103 – Error codes in Gx_XIST2.126
Table 104 – Sensor control word .127
Table 105 – Sensor status word.128
Table 106 – States.131
Table 107 – Transitions .132
Table 108 – Prioritisation of Sensor Control Word. 135
Table 109 – Example for standard telegram with additional peripheral control. 140
Table 110 – Fault buffer parameters .146
Table 111 – Fault codes examples.147
Table 112 – Definition of the fault classes attribute .149
Table 113 – Definition of the PROFIdrive fault classes.149
Table 114 – Structure of parameter 964 (Drive Unit identification) . 150
Table 115 – Definition of the Profile identification number.150
Table 116 – Structure of parameter 975 (DO identification). 151
Table 117 – Structure of P975.5 .151
Table 118 – DO type class definition in P975.5 .151
Table 119 – Assignment of the bits of DO sub class 1 identification in P975.6 . 152
Table 120 – Structure of parameter 974 (Base Mode Parameter Access identification) . 153
Table 121 – PROFIdrive I&M parameter definition . 153
Table 122 – PROFIdrive parameter value definition .154
Table 123 – PROFIdrive error code definition .154
Table 124 – Specified DO functions for the Application Classes. 162
Table 125 – Parameter for “Life sign monitoring“ .163
Table 126 – Parameter for “DO IO DATA-Telegram selection and configuration“.163
Table 127 – Parameter for “Sensor interface“ .164
Table 128 – Parameter for “Fault buffer handling“ . 164
Table 129 – Parameter for “Warning mechanism“ .164
Table 130 – Parameter for “Closed loop control operating mode“. 164
Table 131 – Parameter for “Set and store of the local parameter set“. 164
Table 132 – Parameter for “Set and store complete parameter set“. 165
Table 133 – Parameter for “Drive reset“ .165
Table 134 – Parameter for “Operation priority for write parameters“. 165
Table 135 – Parameter for “DO identification and setup“. 165
Table 136 – Parameter for “Parameter set identification“ . 166
Table 137 – Parameter for “Device identification“. 166
Table 138 – Parameter for “Alternative supervisor DO IO Data control channel“ .166
Table 139 – PROFIdrive Parameter listed by number.167
Table 140 – Overview on the assignment of the bits of control word1 for the process
technology operating mode .177
Table 141 – Overview on the assignment of the bits of status word1 for the process
technology operating mode .178

61800-7-203 © IEC:2007(E) – 9 –
Table 142 – Overview on the assignment of the bits of drive status/fault word for the
process technology operating mode.179
Table 143 – Definition of standard telegram 20 .183

– 10 – 61800-7-203 © IEC:2007(E)
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-203: Generic interface and use
of profiles for power drive systems –
Profile type 3 specification
FOREWORD
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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 Derwent Derwent publication
Application serial accession
number Number
EP844542 [SI] Numerical control method 1998- EP844542-A1
and control structure for 274369 27.05.1998;
controlling of movement DE59603496-G
of objects whereby speed 02.12.1999;
control is effected at a EP844542-B1
higher rate than position 27.10.1999
control
The IEC takes no position concerning the evidence, validity and scope of this patent right.

61800-7-203 © IEC:2007(E) – 11 –
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under reasonable and non-discriminatory terms and conditions with applicants throughout the
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Information may be obtained from

[SI] Siemens AG
Corporate Intellectual Property
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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 61800-7-203 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.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/184/FDIS 22G/192/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.
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. A
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