SANS 61800-7-201-2008 Adjustable speed electrical power drive systems Part 7-201 Generic interface and use of profiles for power drive systems - Profile type 1 specification《可调速电力驱.pdf

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1、 Collection of SANS standards in electronic format (PDF) 1. Copyright This standard is available to staff members of companies that have subscribed to the complete collection of SANS standards in accordance with a formal copyright agreement. This document may reside on a CENTRAL FILE SERVER or INTRA

2、NET SYSTEM only. Unless specific permission has been granted, this document MAY NOT be sent or given to staff members from other companies or organizations. Doing so would constitute a VIOLATION of SABS copyright rules. 2. Indemnity The South African Bureau of Standards accepts no liability for any

3、damage whatsoever than may result from the use of this material or the information contain therein, irrespective of the cause and quantum thereof. ISBN 978-0-626-21813-3 SANS 61800-7-201:2008 Edition 1 IEC 61800-7-201:2007 Edition 1SOUTH AFRICAN NATIONAL STANDARD Adjustable speed electrical power dr

4、ive systems Part 7-201: Generic interface and use of profiles for power drive systems Profile type 1 specification This national standard is the identical implementation of IEC 61800-7-201:2007 and is adopted with the permission of the International Electrotechnical Commission. Published by SABS Sta

5、ndards Division 1 Dr Lategan Road Groenkloof Private Bag X191 Pretoria 0001 Tel: +27 12 428 7911 Fax: +27 12 344 1568 www.sabs.co.za SABS This standard may only be used and printed by approved subscription and freemailing clients of the SABS. SANS 61800-7-201:2008 Edition 1 IEC 61800-7-201:2007 Edit

6、ion 1 Table of changes Change No. Date Scope National foreword This South African standard was approved by National Committee SABS TC 69, Power electronics and alternative energy conversion, in accordance with procedures of the SABS Standards Division, in compliance with annex 3 of the WTO/TBT agree

7、ment. This SANS document was published in November 2008. This standard may only be used and printed by approved subscription and freemailing clients of the SABS. IEC 61800-7-201 Edition 1.0 2007-11 INTERNATIONAL STANDARD Adjustable speed electrical power drive systems Part 7-201: Generic interface a

8、nd use of profiles for power drive systems Profile type 1 specification INTERNATIONAL ELECTROTECHNICAL COMMISSION XG ICS 29.200; 35.100.05 PRICE CODE ISBN 2-8318-9375-5 SANS 61800-7-201:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 2 618

9、00-7-201 IEC:2007(E) CONTENTS FOREWORD.14 INTRODUCTION.16 1 Scope.19 2 Normative references .19 3 Terms, definitions and abbreviated terms .19 3.1 Terms and definitions 19 3.2 Abbreviated terms .23 4 General 24 4.1 General considerations24 4.2 Communication interface.24 4.3 Object dictionary .25 5 D

10、ata types25 5.1 Standard data types 25 5.2 Record definitions .26 6 General object definitions.27 6.1 General .27 6.2 Communication parameter objects.27 6.3 Additional identification and information objects 28 6.3.1 Object 6402 h : Motor type 28 6.3.2 Object 6403 h : Motor catalogue number .29 6.3.3

11、 Object 6404 h : Motor manufacturer.29 6.3.4 Object 6405 h : http motor catalogue address30 6.3.5 Object 6406 h : Motor calibration date .30 6.3.6 Object 6407 h : Motor service period .31 6.3.7 Object 6503 h : Drive catalogue number 31 6.3.8 Object 6505 h : http drive catalogue address .32 7 Error c

12、odes and error behaviour .32 7.1 Error codes .32 7.2 Error behavior .36 8 Controlling the power drive system.37 8.1 General .37 8.2 Finite state automaton.37 8.3 Modes of operation40 8.4 Detailed object specifications 41 8.4.1 Object 6040 h : Controlword 41 8.4.2 Object 6041 h : Statusword42 8.4.3 O

13、bject 603F h : Error code 43 8.4.4 Object 6007 h : Abort connection option code44 8.4.5 Object 605A h : Quick stop option code .45 8.4.6 Object 605B h : Shutdown option code 46 8.4.7 Object 605C h : Disable operation option code 46 8.4.8 Object 605D h : Halt option code .47 8.4.9 Object 605E h : Fau

14、lt reaction option code 48 8.4.10 Object 6060 h : Modes of operation .49 8.4.11 Object 6061 h : Modes of operation display .50 SANS 61800-7-201:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-201 IEC:2007(E) 3 8.4.12 Object 6502 h :

15、 Supported drive modes .50 9 Factor group.51 9.1 General .51 9.2 Detailed object definitions .51 9.2.1 Object 608F h : Position encoder resolution.51 9.2.2 Object 6090 h : Velocity encoder resolution.52 9.2.3 Object 6091 h : Gear ratio .53 9.2.4 Object 6092 h : Feed constant.54 9.2.5 Object 607E h :

16、 Polarity.55 10 Profile position mode56 10.1 General information.56 10.2 Functional description .57 10.2.1 General .57 10.2.2 Single set-point .58 10.2.3 Set of set-points 59 10.3 General definitions 60 10.4 Use of controlword and statusword60 10.5 Detailed object definitions .61 10.5.1 Object 607A

17、h : Target position .61 10.5.2 Object 607B h : Position range limit.62 10.5.3 Object 607D h : Software position limit62 10.5.4 Object 607F h : Max profile velocity.64 10.5.5 Object 6080 h : Max motor speed64 10.5.6 Object 6081 h : Profile velocity65 10.5.7 Object 6082 h : End velocity65 10.5.8 Objec

18、t 6083 h : Profile acceleration.66 10.5.9 Object 6084 h : Profile deceleration.66 10.5.10 Object 6085 h : Quick stop deceleration 67 10.5.11 Object 6086 h : Motion profile type67 10.5.12 Object 60A3 h : Profile jerk use.68 10.5.13 Object 60A4 h : Profile jerk69 10.5.14 Object 60C5 h : Max accelerati

19、on70 10.5.15 Object 60C6 h : Max deceleration71 11 Homing mode .72 11.1 General information.72 11.2 Functional description .72 11.3 General definitions 73 11.3.1 Method 1: Homing on negative limit switch and index pulse.73 11.3.2 Method 2: Homing on positive limit switch and index pulse73 11.3.3 Met

20、hod 3 and 4: Homing on positive home switch and index pulse73 11.3.4 Method 5 and 6: Homing on negative home switch and index pulse.74 11.3.5 Method 7 to 14: Homing on home switch and index pulse74 11.3.6 Method 15 and 16: Reserved.75 11.3.7 Method 17 to 30: Homing without index pulse75 11.3.8 Metho

21、d 31 and 32: Reserved.76 11.3.9 Method 33 and 34: Homing on index pulse 76 11.3.10 Method 35: Homing on index pulse76 11.3.11 Method 36: Homing with touch-probe 76 11.4 Use of controlword and statusword76 SANS 61800-7-201:2008This standard may only be used and printed by approved subscription and fr

22、eemailing clients of the SABS. 4 61800-7-201 IEC:2007(E) 11.5 Detailed object definitions .77 11.5.1 Object 607C h : Home offset .77 11.5.2 Object 6098 h : Homing method 78 11.5.3 Object 6099 h : Homing speeds.79 11.5.4 Object 609A h : Homing acceleration.80 11.5.5 Object 60B8 h : Touch probe functi

23、on80 11.5.6 Object 60B9 h : Touch probe status.82 11.5.7 Object 60BA h : Touch probe pos1 pos value 82 11.5.8 Object 60BB h : Touch probe pos1 neg value83 11.5.9 Object 60BC h : Touch probe pos2 pos value83 11.5.10 Object 60BD h : Touch probe pos2 neg value84 12 Position control function .84 12.1 Ge

24、neral information.84 12.2 Functional description .85 12.3 Detailed object definitions .87 12.3.1 Object 6062 h : Position demand value .87 12.3.2 Object 6063 h : Position actual internal value87 12.3.3 Object 6064 h : Position actual value.88 12.3.4 Object 6065 h : Following error window.88 12.3.5 O

25、bject 6066 h : Following error time out 89 12.3.6 Object 6067 h : Position window90 12.3.7 Object 6068 h : Position window time 90 12.3.8 Object 60F4 h : Following error actual value91 12.3.9 Object 60FA h : Control effort91 12.3.10 Object 60FC h : Position demand internal value 92 12.3.11 Object 60

26、F2 h : Positioning option code 92 13 Interpolated position mode .94 13.1 General information.94 13.2 Functional description .95 13.2.1 General .95 13.2.2 Linear interpolated position mode with several axes 96 13.2.3 Buffer strategies for the interpolated position mode .97 13.2.4 Interpolated positio

27、n mode FSA.98 13.3 General definitions 99 13.4 Use of controlword and statusword99 13.5 Detailed object definitions .100 13.5.1 Object 60C0 h : Interpolation sub mode select.100 13.5.2 Object 60C1 h : Interpolation data record 101 13.5.3 Object 60C2 h : Interpolation time period.102 13.5.4 Object 60

28、C4 h : Interpolation data configuration 103 14 Profile velocity mode 105 14.1 General information.105 14.2 Functional description .106 14.3 General definitions 107 14.4 Use of controlword and statusword107 14.5 Detailed object definitions .108 14.5.1 Object 6069 h : Velocity sensor actual value .108

29、 14.5.2 Object 606A h : Sensor selection code 108 14.5.3 Object 606B h : Velocity demand value .109 SANS 61800-7-201:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-201 IEC:2007(E) 5 14.5.4 Object 606C h : Velocity actual value 110

30、14.5.5 Object 606D h : Velocity window .110 14.5.6 Object 606E h : Velocity window time111 14.5.7 Object 606F h : Velocity threshold.111 14.5.8 Object 6070 h : Velocity threshold time .112 14.5.9 Object 60FF h : Target velocity .112 14.5.10 Object 60F8 h : Max slippage 113 15 Profile torque mode 113

31、 15.1 General information.113 15.2 Functional description .113 15.3 General definitions 114 15.4 Use of controlword and statusword114 15.5 Detailed object definitions .115 15.5.1 Object 6071 h : Target torque115 15.5.2 Object 6072 h : Max torque .116 15.5.3 Object 6073 h : Max current 116 15.5.4 Obj

32、ect 6074 h : Torque demand 117 15.5.5 Object 6075 h : Motor rated current.117 15.5.6 Object 6076 h : Motor rated torque118 15.5.7 Object 6077 h : Torque actual value 118 15.5.8 Object 6078 h : Current actual value .119 15.5.9 Object 6079 h : DC link circuit voltage.119 15.5.10 Object 6087 h : Torque

33、 slope 120 15.5.11 Object 6088 h : Torque profile type .120 16 Velocity mode.121 16.1 General information.121 16.2 Functional description .122 16.2.1 Velocity limit function.122 16.2.2 Ramp function .122 16.2.3 Velocity control function 122 16.2.4 Factor function 122 16.3 General definitions 123 16.

34、4 Use of controlword and statusword123 16.5 Detailed object definitions .124 16.5.1 Object 6042 h : vl target velocity124 16.5.2 Object 6043 h : vl velocity demand 125 16.5.3 Object 6044 h : vl velocity actual value125 16.5.4 Object 6046 h : vl velocity min max amount .126 16.5.5 Object 6049 h : vl

35、velocity deceleration127 16.5.6 Object 6048 h : vl velocity acceleration128 16.5.7 Object 604A h : vl velocity quick stop 130 16.5.8 Object 604B h : vl set-point factor131 16.5.9 Object 604C h : vl dimension factor .132 17 Cyclic synchronous position mode133 17.1 General information.133 17.2 Functio

36、nal description .134 17.3 Use of controlword and statusword135 17.4 Detailed object definitions .136 17.4.1 Object 60B0 h : Position offset 136 SANS 61800-7-201:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 6 61800-7-201 IEC:2007(E) 17.4

37、.2 Object 60B1 h : Velocity offset.136 17.4.3 Object 60B2 h : Torque offset 137 18 Cyclic synchronous velocity mode 137 18.1 General information.137 18.2 General definitions 138 18.3 Functional description .138 18.4 Use of controlword and statusword139 19 Cyclic synchronous torque mode 140 19.1 Gene

38、ral information.140 19.2 General definitions 140 19.3 Functional description .140 19.4 Use of controlword and statusword141 20 Optional application FE 141 20.1 General .141 20.2 Object 60FD h : Digital inputs141 20.3 Object 60FE h : Digital outputs142 Bibliography144 Figure 1 Structure of IEC 61800-

39、718 Figure 2 Value definition 27 Figure 3 Remote and local control37 Figure 4 Power drive system finite state automaton .38 Figure 5 Relation between different value parameters41 Figure 6 Value definition 41 Figure 7 Value definition 42 Figure 8 Value definition 50 Figure 9 Value definition 56 Figur

40、e 10 Trajectory generator and position control function 56 Figure 11 Trajectory generator for profile position mode 57 Figure 12 Set-point example 58 Figure 13 Handshaking procedure for the single set-point method .58 Figure 14 Handshaking procedure for the set of set-points method 59 Figure 15 Set-

41、point handling for two set-points 59 Figure 16 Controlword for profile position (pp) mode60 Figure 17 Statusword for profile position (pp) mode .61 Figure 18 Velocity/time diagram with jerk positions 69 Figure 19 Homing mode function .72 Figure 20 Homing on negative limit switch and index pulse73 Fi

42、gure 21 Homing on positive limit switch and index pulse .73 Figure 22 Homing on positive home switch and index pulse.74 Figure 23 Homing on negative home switch and index pulse74 Figure 24 Homing on home switch and index pulse positive initial motion .75 Figure 25 Homing on home switch and index pul

43、se negative initial motion .75 Figure 26 Homing on positive home switch 76 SANS 61800-7-201:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-201 IEC:2007(E) 7 Figure 27 Homing on index pulse.76 Figure 28 Controlword for homing mode 7

44、6 Figure 29 Statusword for homing mode77 Figure 30 Home offset definition 77 Figure 31 Position control function.85 Figure 32 Following error (functional overview)85 Figure 33 Position reached (functional overview) .86 Figure 34 Position reached (definitions).86 Figure 35 Following error (definition

45、s)87 Figure 36 Object structure .92 Figure 37 Interpolation controller .95 Figure 38 Interpolated position mode for two axes .96 Figure 39 Linear interpolation for one axis .97 Figure 40 Input buffer organisation 98 Figure 41 Input buffer examples.98 Figure 42 Interpolated position mode FSA .99 Figu

46、re 43 Controlword for interpolated position mode 99 Figure 44 Statusword for interpolated position mode100 Figure 45 Profile velocity mode107 Figure 46 Controlword for profile velocity mode .107 Figure 47 Statusword for profile velocity mode.108 Figure 48 Structure of the profile torque mode .114 Fi

47、gure 49 Controlword for profile torque mode .114 Figure 50 Statusword for profile torque mode.115 Figure 51 Velocity mode with all objects 121 Figure 52 Velocity mode with mandatory objects only 121 Figure 53 Velocity profile .122 Figure 54 Factor function .122 Figure 55 Reverse factor function 123

48、Figure 56 Controlword for profile velocity mode .123 Figure 57 Usage of controlword bits in velocity mode.124 Figure 58 Statusword for profile velocity mode.124 Figure 59 Transfer characteristic of vl velocity min max amount.126 Figure 60 Transfer characteristic of the velocity deceleration.127 Figu

49、re 61 Transfer characteristic of the velocity acceleration .129 Figure 62 Transfer characteristic of the quick stop deceleration.130 Figure 63 Cyclic synchronous position mode overview.134 Figure 64 Cyclic synchronous position control function 135 Figure 65 Statusword for profile cyclic synchronous position mode 135 Figure 66 Cyclic synchronous velocity mode overview .138 Figure 67 Cyclic synchronous velocity co