SIST EN 61800-7-201:2016

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Adjustable speed electrical power drive systems - Part 7-201: Generic interface and use of profiles for power drive systems - Profile type 1 specification35.100.05UHãLWYHMultilayer applications29.200QDSDMDQMHRectifiers. Convertors. Stabilized power supplyICS:Ta slovenski standard je istoveten z:EN 61800-7-201:2016SIST EN 61800-7-201:2016en01-maj-2016SIST EN 61800-7-201:2016SLOVENSKI
STANDARDSIST EN 61800-7-201:20081DGRPHãþD

EUROPEAN STANDARD NORME EUROPÉENNE EUROPÄISCHE NORM
EN 61800-7-201
February 2016 ICS 29.200; 35.100.05
Supersedes
EN 61800-7-201:2008
English Version
Adjustable speed electrical power drive systems -
Part 7-201: Generic interface and use of profiles for power drive systems - Profile type 1 specification (IEC 61800-7-201:2015)
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 (IEC 61800-7-201:2015)
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-201: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 1 (IEC 61800-7-201:2015) This European Standard was approved by CENELEC on 2015-12-25. 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 CEN-CENELEC Management Centre 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 CEN-CENELEC Management Centre has the same status as the official versions. CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique Europäisches Komitee für Elektrotechnische Normung CEN-CENELEC Management Centre: Avenue Marnix 17,
B-1000 Brussels © 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.
Ref. No. EN 61800-7-201:2016 E SIST EN 61800-7-201:2016

The following dates are fixed: • latest date by which the document has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2016-09-25 • latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2018-12-25
This document supersedes EN 61800-7-201:2008.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. CENELEC [and/or CEN] shall not be held responsible for identifying any or all such patent rights.
Endorsement notice The text of the International Standard IEC 61800-7-201:2015 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 61499-1 NOTE Harmonized as EN 61499-1. IEC 61800 Series NOTE Harmonized as EN 61800 Series. IEC 61800-7-1:2015 NOTE Harmonized as EN 61800-7-1:2016 (not modified). IEC 61800-7-202:2015 NOTE Harmonized as EN 61800-7-202:2016 (not modified). IEC 61800-7-203:2015 NOTE Harmonized as EN 61800-7-203:2016 (not modified). IEC 61800-7-204:2015 NOTE Harmonized as EN 61800-7-204:2016 (not modified). IEC 61800-7-302:2015 NOTE Harmonized as EN 61800-7-302:2016 (not modified). IEC 61800-7-303:2015 NOTE Harmonized as EN 61800-7-303:2016 (not modified). IEC 61800-7-304:2015 NOTE Harmonized as EN 61800-7-304:2016 (not modified). IEC 61915-1 NOTE Harmonized as EN 61915-1. SIST EN 61800-7-201:2016

Normative references to international publications with their corresponding European publications
The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies.
NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is available here: www.cenelec.eu
Publication Year Title EN/HD Year
Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces -
Part 4: CANopen EN 50325-4
IEC 61800-7-301 2015 Adjustable speed electrical
power drive systems -
Part 7-301: Generic interface and use of profiles for power drive systems - Mapping of profile type 1 to network technologies EN 61800-7-301 2016 CiA 303-2 2012 CANopen recommendation -
Part 2: Representation of SI units and prefixes
IEC 61800-7-201 Edition 2.0 2015-11 INTERNATIONAL STANDARD NORME INTERNATIONALE 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 6402h: Motor type . 32 6.3.2 Object 6403h: Motor catalogue number . 33 6.3.3 Object 6404h: Motor manufacturer . 34 6.3.4 Object 6405h: http motor catalogue address . 35 6.3.5 Object 6406h: Motor calibration date . 35 6.3.6 Object 6407h: Motor service period . 36 6.3.7 Object 6503h: Drive catalogue number . 36 6.3.8 Object 6505h: http drive catalogue address . 37 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 6040h: Controlword . 46 8.4.2 Object 6041h: Statusword . 47 8.4.3 Object 603Fh: Error code . 49 8.4.4 Object 6007h: Abort connection option code . 50 8.4.5 Object 605Ah: Quick stop option code . 51 8.4.6 Object 605Bh: Shutdown option code . 51 8.4.7 Object 605Ch: Disable operation option code . 52 8.4.8 Object 605Dh: Halt option code . 53 8.4.9 Object 605Eh: Fault reaction option code . 54 8.4.10 Object 6060h: Modes of operation . 54 8.4.11 Object 6061h: Modes of operation display . 56 SIST EN 61800-7-201:2016

IEC 61800-7-201:2015 © IEC 2015 – 3 – 8.4.12 Object 6502h: Supported drive modes . 56 9 Factor group . 57 9.1 General . 57 9.2 Detailed object definitions . 59 9.2.1 Object 608Fh: Position encoder resolution . 59 9.2.2 Object 6090h: Velocity encoder resolution . 60 9.2.3 Object 6091h: Gear ratio . 61 9.2.4 Object 6092h: Feed constant . 62 9.2.5 Object 6096h: Velocity factor . 64 9.2.6 Object 6097h: Acceleration factor . 64 9.2.7 Object 60A2h: Jerk factor . 65 9.2.8 Object 607Eh: Polarity . 66 9.2.9 Code table for device profile specific units . 67 9.2.10 Object 60A8h: SI unit position . 67 9.2.11 Object 60A9h: SI unit velocity . 68 9.2.12 Object 60AAh: SI unit acceleration . 69 9.2.13 Object 60ABh: SI unit jerk . 70 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 607Ah: Target position . 76 10.5.2 Object 607Bh: Position range limit . 77 10.5.3 Object 607Dh: Software position limit . 78 10.5.4 Object 607Fh: Max profile velocity . 80 10.5.5 Object 6080h: Max motor speed . 81 10.5.6 Object 6081h: Profile velocity . 81 10.5.7 Object 6082h: End velocity . 82 10.5.8 Object 6083h: Profile acceleration . 82 10.5.9 Object 6084h: Profile deceleration . 83 10.5.10 Object 6085h: Quick stop deceleration. 83 10.5.11 Object 6086h: Motion profile type . 84 10.5.12 Object 60A3h: Profile jerk use . 85 10.5.13 Object 60A4h: Profile jerk . 85 10.5.14 Object 60C5h: Max acceleration . 87 10.5.15 Object 60C6h: Max deceleration . 88 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 SIST EN 61800-7-201:2016

– 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 607Ch: Home offset . 94 11.5.2 Object 6098h: Homing method . 95 11.5.3 Object 60E3h: Supported homing methods . 96 11.5.4 Object 6099h: Homing speeds . 97 11.5.5 Object 609Ah: Homing acceleration . 98 12 Touch probe functionality. 99 12.1 Object 60B8h: Touch probe function . 99 12.2 Object 60B9h: Touch probe status . 101 12.3 Object 60BAh: Touch probe 1 positive edge . 102 12.4 Object 60BBh: Touch probe 1 negative edge . 102 12.5 Object 60BCh: Touch probe 2 positive edge . 103 12.6 Object 60BDh: Touch probe 2 negative edge . 103 12.7 Object 60D0h: Touch probe source . 104 12.8 Touch probe time stamp latch . 105 12.8.1 General . 105 12.8.2 Object 60D1h: Touch probe time stamp 1 positive value . 106 12.8.3 Object 60D2h: Touch probe time stamp 1 negative value . 106 12.8.4 Object 60D3h: Touch probe time stamp 2 positive value . 107 12.8.5 Object 60D4h: Touch probe time stamp 2 negative value . 107 12.9 Touch probe edge counter for continuous mode . 108 12.9.1 General . 108 12.9.2 Object 60D5h: Touch probe 1 positive edge counter . 108 12.9.3 Object 60D6h: Touch probe 1 negative edge counter . 108 12.9.4 Object 60D7h: Touch probe 2 positive edge counter . 109 12.9.5 Object 60D8h: Touch probe 2 negative edge counter . 110 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 6062h: Position demand value . 114 13.3.2 Object 6063h: Position actual internal value . 115 13.3.3 Object 6064h: Position actual value . 115 13.3.4 Object 6065h: Following error window . 116 13.3.5 Object 6066h: Following error time out . 117 13.3.6 Object 6067h: Position window . 117 13.3.7 Object 6068h: Position window time . 118 SIST EN 61800-7-201:2016

IEC 61800-7-201:2015 © IEC 2015 – 5 – 13.3.8 Object 60F4h: Following error actual value . 118 13.3.9 Object 60FAh: Control effort . 119 13.3.10 Object 60FCh: Position demand internal value . 119 13.3.11 Object 60F2h: Positioning option code . 120 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 60C0h: Interpolation sub mode select . 130 14.5.2 Object 60C1h: Interpolation data record. 131 14.5.3 Object 60C2h: Interpolation time period . 132 14.5.4 Object 60C4h: Interpolation data configuration . 133 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 6069h: Velocity sensor actual value . 138 15.5.2 Object 606Ah: Sensor selection code . 139 15.5.3 Object 606Bh: Velocity demand value . 139 15.5.4 Object 606Ch: Velocity actual value . 140 15.5.5 Object 606Dh: Velocity window . 140 15.5.6 Object 606Eh: Velocity window time . 141 15.5.7 Object 606Fh: Velocity threshold . 141 15.5.8 Object 6070h: Velocity threshold time . 142 15.5.9 Object 60FFh: Target velocity . 142 15.5.10 Object 60F8h: Max slippage . 143 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 6071h: Target torque . 145 16.5.2 Object 6072h: Max torque . 146 16.5.3 Object 60E0h: Positive torque limit value . 146 16.5.4 Object 60E1h: Negative torque limit value . 147 16.5.5 Object 6073h: Max current . 148 16.5.6 Object 6074h: Torque demand . 148 16.5.7 Object 6075h: Motor rated current . 149 16.5.8 Object 6076h: Motor rated torque . 149 16.5.9 Object 6077h: Torque actual value . 150 SIST EN 61800-7-201:2016

– 6 – IEC 61800-7-201:2015 © IEC 2015 16.5.10 Object 6078h: Current actual value . 150 16.5.11 Object 6079h: DC link circuit voltage . 151 16.5.12 Object 6087h: Torque slope . 151 16.5.13 Object 6088h: Torque profile type . 152 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 6042h: vl target velocity . 156 17.5.2 Object 6043h: vl velocity demand . 156 17.5.3 Object 6044h: vl velocity actual value . 157 17.5.4 Object 6046h: vl velocity min max amount . 158 17.5.5 Object 6049h: vl velocity deceleration . 159 17.5.6 Object 6048h: vl velocity acceleration . 160 17.5.7 Object 604Ah: vl velocity quick stop . 162 17.5.8 Object 604Bh: vl set-point factor . 163 17.5.9 Object 604Ch: vl dimension factor . 164 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 60B0h: Position offset . 168 18.4.2 Object 60B1h: Velocity offset . 168 18.4.3 Object 60B2h: Torque offset . 169 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 60EAh: Commutation angle . 176 22 Support of additional sensor interfaces . 176 22.1 General . 176 SIST EN 61800-7-201:2016

IEC 61800-7-201:2015 © IEC 2015 – 7 – 22.2 Object 60E4h: Additional position actual value . 177 22.3 Object 60E5h: Additional velocity actual value . 178 22.4 Object 60E6h: Additional position encoder resolution – encoder increments . 179 22.5 Object 60EBh: Additional position encoder resolution – motor revolutions . 180 22.6 Object 60E7h: Additional velocity encoder resolution – encoder increments per second . 182 22.7 Object 60ECh: Additional velocity encoder resolution – motor revolutions per second . 183 22.8 Object 60E8h: Additional gear ratio – motor shaft revolutions . 185 22.9 Object 60EDh: Additional gear ratio – driving shaft revolutions . 186 22.10 Object 60E9h: Additional feed constant – feed . 186 22.11 Object 60EEh: Additional feed constant – driving shaft revolutions . 188 23 Optional application FE . 189 23.1 General . 189 23.2 Object 60FDh: Digital inputs . 189 23.3 Object 60FEh: Digital outputs . 190 24 Device information . 191 24.1 General . 191 24.2 Object 67FEh: Version number . 191 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 SIST EN 61800-7-201:2016

– 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 . 144 Figure 60 – Controlword for profile torque mode . 145 Figure 61 – Statusword for profile torque mode . 145 Figure 62 – Velocity mode with all objects . 153 Figure 63 – Velocity mode with mandatory objects only . 153 Figure 64 – Velocity profile . 154 Figure 65 – Factor function . 154 Figure 66 – Reverse factor function . 154 Figure 67 – Controlword for profile velocity mode . 155 Figure 68 – Usag
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