SANS 61800-7-304-2008 Adjustable speed electrical power drive systems Part 7-304 Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to networ.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 978-0-626-22149-2 SANS 61800-7-304:2008 Edition 1 IEC 61800-7-304:2007 Edition 1SOUTH AFRICAN NATIONAL STANDARD Adjustable speed electrical power dr

4、ive systems Part 7-304: Generic interface and use of profiles for power drive systems Mapping of profile type 4 to network technologies This national standard is the identical implementation of IEC 61800-7-304:2007 and is adopted with the permission of the International Electrotechnical Commission.

5、Published by SABS Standards 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 61800-7-304:2008 Edition 1 IEC 6

6、1800-7-304:2007 Edition 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

7、of the WTO/TBT agreement. 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 61800-7-304 Edition 1.0 2007-11 INTERNATIONAL STANDARD Adjustable speed electrical power drive systems Part 7-304:

8、 Generic interface and use of profiles for power drive systems Mapping of profile type 4 to network technologies INTERNATIONAL ELECTROTECHNICAL COMMISSION XC ICS 29.200; 35.100.05 PRICE CODE ISBN 2-8318-9383-6 SANS 61800-7-304:2008This standard may only be used and printed by approved subscription a

9、nd freemailing clients of the SABS. 2 61800-7-304 IEC:2007(E) CONTENTS FOREWORD.6 INTRODUCTION.8 1 Scope.11 2 Normative references .11 3 Terms, definitions and abbreviated terms .12 3.1 Terms and definitions 12 3.2 Abbreviated terms .17 4 General 17 5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS

10、II) .18 5.1 Reference to communication standards.18 5.2 Overview.18 5.3 Physical layer and topology.20 5.4 Synchronisation mechanism 21 5.4.1 General .21 5.4.2 Handling of command and feedback values .22 5.4.3 Position loop with fine interpolator .23 5.5 Telegram contents.24 5.5.1 General .24 5.5.2

11、Data block .25 5.5.3 Communication function group telegrams 25 5.5.4 Standard telegrams .26 5.5.5 Application telegrams 28 5.6 Non-cyclic data transfer.29 5.7 Real-time bits29 5.7.1 Functions of Real time bits 29 5.7.2 Allocation of real-time bits .30 5.7.3 Possible cases 31 5.8 Signal control word

12、and signal status word33 5.9 Data container.34 5.10 Drive shutdown functions 36 5.11 Communication classes.37 5.11.1 General .37 5.11.2 Communication class A .38 5.11.3 Communication class B (Extended Functions) .41 5.11.4 Communication class C (Additional Functions) 42 5.11.5 Communication cycle ti

13、me granularity43 6 Mapping to CP16/3 (SERCOS III) .43 6.1 Reference to communication standards.43 6.2 Overview.43 6.3 Physical layer and topology.45 6.4 Synchronisation mechanism and telegram content 46 6.5 Non-cyclic data transfer.47 6.6 Real-time bits47 6.7 Signal control word and signal status wo

14、rd47 6.8 Data container.47 SANS 61800-7-304:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.61800-7-304 IEC:2007(E) 3 6.9 Drive shutdown functions 47 6.10 Communication classes.48 7 Mapping to EtherCAT .48 7.1 Reference to communication sta

15、ndards.48 7.2 Overview.48 7.3 SoE Synchronisation .49 7.3.1 General .49 7.3.2 CP16 Phase 0-2 50 7.3.3 CP16 Phase 3-4 50 7.4 SoE Application Layer Management 50 7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine .50 7.4.2 Multiple Drives.51 7.4.3 IDN Usage.51 7.5 SoE Process Data Mapping

16、.52 7.6 SoE Service Channel Services 55 7.6.1 Overview .55 7.6.2 SSC Read .55 7.6.3 SSC Write .60 7.6.4 SSC Procedure Commands .64 7.6.5 SSC Slave Info66 7.7 SoE Coding General67 7.8 SoE Protocol Data Unit Coding69 7.8.1 SSC Read .69 7.8.2 SSC Write .72 7.8.3 Notify SSC Command Execution Request76 7

17、.8.4 SSC Slave Info77 Bibliography79 Figure 1 Structure of IEC 61800-710 Figure 2 Topology21 Figure 3 Validity of command values and feedback acquisition time in the PDSs .22 Figure 4 Synchronisation of cycle times .23 Figure 5 Synchronisation of the control loops and the fine interpolator.23 Figure

18、 6 AT configuration (example) 29 Figure 7 Function of the real-time bits30 Figure 8 Allocation of IDN 0 to the real-time bits .31 Figure 9 Allocation of IDN = 0 to the real-time bits .32 Figure 10 Allocation of IDN 0 to the real-time bits .33 Figure 11 Configuration example of signal status word 34

19、Figure 12 Data container configuration without acknowledge (slave)35 Figure 13 Data container configuration with acknowledge (slave).36 Figure 14 Structure of Communication classes 37 Figure 15 Topology45 Figure 16 Telegram sequence46 Figure 17 General communication cycle.47 SANS 61800-7-304:2008Thi

20、s standard may only be used and printed by approved subscription and freemailing clients of the SABS. 4 61800-7-304 IEC:2007(E) Figure 18 ESM and IEC 61158-4-16 State Machine .51 Figure 19 Successful SSC Read sequence 56 Figure 20 Unsuccessful SSC Read sequence 56 Figure 21 Successful SSC Fragmented

21、 Read sequence.57 Figure 22 Successful SSC Write sequence 60 Figure 23 Unsuccessful SSC Write sequence 61 Figure 24 Successful SSC Fragmented Write sequence.61 Figure 25 Successful SSC Procedure Command sequence64 Figure 26 Aborted SSC Procedure Command sequence 65 Figure 27 Slave Info sequence.66 T

22、able 1 CP16/1 and CP16/2 feature summary18 Table 2 Number of PDSs per network (examples) 19 Table 3 Communication Profile Interoperability within a network 20 Table 4 Typical operation data for cyclic transmission24 Table 5 Typical data for non-cyclic transmission 25 Table 6 IDN for choice and param

23、eterisation of telegrams .26 Table 7 Structure of standard telegram-0 .26 Table 8 Structure of standard telegram-1 .26 Table 9 Structure of standard telegram-2 .26 Table 10 Structure of standard telegram-3 .27 Table 11 Structure of standard telegram-4 .27 Table 12 Structure of standard telegram-5 .2

24、7 Table 13 Structure of standard telegram-6 .28 Table 14 IDN for configuration of MDT.28 Table 15 IDN for configuration of AT28 Table 16 IDN for real-time bits .29 Table 17 Real-time bits assignment IDNs.30 Table 18 IDN for configuring control and status words .33 Table 19 Data containers IDN 34 Tab

25、le 20 Ring configuration Timing.38 Table 21 Ring configuration Telegram configuration39 Table 22 Ring configuration Phase run-up 39 Table 23 Service channel protocol .39 Table 24 Information any IEC National Committee interested in the subject dealt with may participate in this preparatory work. Int

26、ernational, governmental and non- governmental organizations liaising with the IEC also participate in this preparation. IEC collaborates closely with the International Organization for Standardization (ISO) in accordance with conditions determined by agreement between the two organizations. 2) The

27、formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international consensus of opinion on the relevant subjects since each technical committee has representation from all interested IEC National Committees. 3) IEC Publications have the form of recommendation

28、s for international use and are accepted by IEC National Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any misinterpretation by any end use

29、r. 4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications transparently to the maximum extent possible in their national and regional publications. Any divergence between any IEC Publication and the corresponding national or regional publication

30、shall be clearly indicated in the latter. 5) IEC provides no marking procedure to indicate its approval and cannot be rendered responsible for any equipment declared to be in conformity with an IEC Publication. 6) All users should ensure that they have the latest edition of this publication. 7) No l

31、iability shall attach to IEC or its directors, employees, servants or agents including individual experts and members of its technical committees and IEC National Committees for any personal injury, property damage or other damage of any nature whatsoever, whether direct or indirect, or for costs (i

32、ncluding legal fees) and expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC Publications. 8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is indispensable for the correct application

33、 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 Standard IEC 61800-7-304 has been prepared by subco

34、mmittee 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/185/FDIS 22G/193/RVD Full informati

35、on 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. SANS 61800-7-304:2008This standard may only be used and printed by approved subscription and free

36、mailing clients of the SABS.61800-7-304 IEC:2007(E) 7 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

37、 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. A bilingual version of this publication may be issued at a la

38、ter date. SANS 61800-7-304:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS. 8 61800-7-304 IEC:2007(E) INTRODUCTION The IEC 61800 series is intended to provide a common set of specifications for adjustable speed electrical power drive system

39、s. 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 i

40、s 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 implemen

41、tations 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 wa

42、y 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 implemen

43、tations 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 d

44、escribe 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 f

45、or 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 in

46、dividual 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 wi

47、th 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 incomp

48、atible 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. SANS 61800-7-304:2008This standard may only be used and printed by approved subscription and freemailing clients of the SABS.