BS EN 61800-7-304-2008 Adjustable speed electrical power drive systems - Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to network techno.pdf

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1、BRITISH STANDARDBS EN 61800-7-304: 2008Adjustable speed electrical power drive systems Part 7-304: Generic interface and use of profiles for power drive systems Mapping of profile type 4 to network technologiesICS 29.200; 35.100.05g49g50g3g38g50g51g60g44g49g42g3g58g44g55g43g50g56g55g3g37g54g44g3g51g

2、40g53g48g44g54g54g44g50g49g3g40g59g38g40g51g55g3g36g54g3g51g40g53g48g44g55g55g40g39g3g37g60g3g38g50g51g60g53g44g42g43g55g3g47g36g58BS EN 61800-7-304:2008This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 September 2008 BSI 2008ISBN 978 0 580

3、60081 4National forewordThis British Standard is the UK implementation of EN 61800-7-304:2008. It is identical to IEC 61800-7-304:2007. The UK participation in its preparation was entrusted to Technical Committee PEL/22, Power electronics.A list of organizations represented on this committee can be

4、obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application.Compliance with a British Standard cannot confer immunity from legal obligations.Amendments/corrigenda issued since publicat

5、ionDate CommentsEUROPEAN STANDARD EN 61800-7-304 NORME EUROPENNE EUROPISCHE NORM April 2008 CENELEC European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung Central Secretariat: rue de Stassart 35, B - 10

6、50 Brussels 2008 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61800-7-304:2008 E ICS 29.200; 35.100.05 Partially supersedes EN 61491:1998English version Adjustable speed electrical power drive systems - Part 7-304: Generic inte

7、rface and use of profiles for power drive systems - Mapping of profile type 4 to network technologies (IEC 61800-7-304:2007) Entranements lectriques de puissance vitesse variable - Partie 7-304: Interface et utilisation gnriques de profils pour les entranements lectriques de puissance - Mapping des

8、profils de type 4 pour technologies rseaux (CEI 61800-7-304:2007) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-304: Generisches Interface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Abbildung von Profil-Typ 4 auf Netzwerktechnologien (IEC 61800-7-304:2007

9、) This European Standard was approved by CENELEC on 2008-02-01. 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 bibliographica

10、l references concerning such national standards may be obtained on application to the Central Secretariat 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 CE

11、NELEC member into its own language and notified to the Central Secretariat has the same status as the official versions. CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Cyprus, the Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary

12、, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and the United Kingdom. Foreword The text of document 22G/185/FDIS, future edition 1 of IEC 61800-7-304, prepared by SC 22G, Adjustable

13、speed electric drive systems incorporating semiconductor power converters, of IEC TC 22, Power electronic systems and equipment, was submitted to the IEC-CENELEC parallel vote and was approved by CENELEC as EN 61800-7-304 on 2008-02-01. This European Standard, together with its companion parts for P

14、rofile type 4 (SERCOS), partially replaces EN 61491:1998 which is at present being revised (to be issued as a Technical Report). The following dates were fixed: latest date by which the EN has to be implemented at national level by publication of an identical national standard or by endorsement (dop

15、) 2008-11-01 latest date by which the national standards conflicting with the EN have to be withdrawn (dow) 2011-02-01 Annex ZA has been added by CENELEC. _ Endorsement notice The text of the International Standard IEC 61800-7-304:2007 was approved by CENELEC as a European Standard without any modif

16、ication. _ BS EN 61800-7-304:2008 2 CONTENTS INTRODUCTION.7 1 Scope.10 2 Normative references .10 3 Terms, definitions and abbreviated terms .11 3.1 Terms and definitions 11 3.2 Abbreviated terms .16 4 General 16 5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II) .17 5.1 Reference to communicatio

17、n standards .17 5.2 Overview .17 5.3 Physical layer and topology.19 5.4 Synchronisation mechanism 20 5.4.1 General .20 5.4.2 Handling of command and feedback values .21 5.4.3 Position loop with fine interpolator .22 5.5 Telegram contents.23 5.5.1 General .23 5.5.2 Data block .24 5.5.3 Communication

18、function group telegrams 24 5.5.4 Standard telegrams .25 5.5.5 Application telegrams 27 5.6 Non-cyclic data transfer.28 5.7 Real-time bits 28 5.7.1 Functions of Real time bits 28 5.7.2 Allocation of real-time bits .29 5.7.3 Possible cases 30 5.8 Signal control word and signal status word32 5.9 Data

19、container.33 5.10 Drive shutdown functions 35 5.11 Communication classes.36 5.11.1 General .36 5.11.2 Communication class A .37 5.11.3 Communication class B (Extended Functions) .40 5.11.4 Communication class C (Additional Functions) 41 5.11.5 Communication cycle time granularity42 6 Mapping to CP16

20、/3 (SERCOS III) .42 6.1 Reference to communication standards .42 6.2 Overview .42 6.3 Physical layer and topology.44 6.4 Synchronisation mechanism and telegram content 45 6.5 Non-cyclic data transfer.46 6.6 Real-time bits 46 6.7 Signal control word and signal status word46 6.8 Data container.46 BS E

21、N 61800-7-304:2008 3 6.9 Drive shutdown functions 46 6.10 Communication classes.47 7 Mapping to EtherCAT .47 7.1 Reference to communication standards .47 7.2 Overview .47 7.3 SoE Synchronisation .48 7.3.1 General .48 7.3.2 CP16 Phase 0-2 49 7.3.3 CP16 Phase 3-4 49 7.4 SoE Application Layer Managemen

22、t 49 7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine .49 7.4.2 Multiple Drives.50 7.4.3 IDN Usage.50 7.5 SoE Process Data Mapping.51 7.6 SoE Service Channel Services 54 7.6.1 Overview .54 7.6.2 SSC Read .54 7.6.3 SSC Write .59 7.6.4 SSC Procedure Commands .63 7.6.5 SSC Slave Info 65

23、7.7 SoE Coding General66 7.8 SoE Protocol Data Unit Coding68 7.8.1 SSC Read .68 7.8.2 SSC Write .71 7.8.3 Notify SSC Command Execution Request75 7.8.4 SSC Slave Info 76 Bibliography78 Figure 1 Structure of IEC 61800-79 Figure 2 Topology20 Figure 3 Validity of command values and feedback acquisition

24、time in the PDSs .21 Figure 4 Synchronisation of cycle times .22 Figure 5 Synchronisation of the control loops and the fine interpolator.22 Figure 6 AT configuration (example) 28 Figure 7 Function of the real-time bits29 Figure 8 Allocation of IDN 0 to the real-time bits .30 Figure 9 Allocation of I

25、DN = 0 to the real-time bits .31 Figure 10 Allocation of IDN 0 to the real-time bits .32 Figure 11 Configuration example of signal status word 33 Figure 12 Data container configuration without acknowledge (slave)34 Figure 13 Data container configuration with acknowledge (slave).35 Figure 14 Structur

26、e of Communication classes 36 Figure 15 Topology44 Figure 16 Telegram sequence45 Figure 17 General communication cycle.46 BS EN 61800-7-304:2008 4 Annex ZA (normative) Normative references to international publications with their corresponding European publications 80 Figure 18 ESM and IEC 61158-4-1

27、6 State Machine .50 Figure 19 Successful SSC Read sequence 55 Figure 20 Unsuccessful SSC Read sequence 55 Figure 21 Successful SSC Fragmented Read sequence.56 Figure 22 Successful SSC Write sequence 59 Figure 23 Unsuccessful SSC Write sequence 60 Figure 24 Successful SSC Fragmented Write sequence.60

28、 Figure 25 Successful SSC Procedure Command sequence63 Figure 26 Aborted SSC Procedure Command sequence 64 Figure 27 Slave Info sequence.65 Table 1 CP16/1 and CP16/2 feature summary17 Table 2 Number of PDSs per network (examples) 18 Table 3 Communication Profile Interoperability within a network 19

29、Table 4 Typical operation data for cyclic transmission23 Table 5 Typical data for non-cyclic transmission 24 Table 6 IDN for choice and parameterisation of telegrams .25 Table 7 Structure of standard telegram-0 .25 Table 8 Structure of standard telegram-1 .25 Table 9 Structure of standard telegram-2

30、 .25 Table 10 Structure of standard telegram-3 .26 Table 11 Structure of standard telegram-4 .26 Table 12 Structure of standard telegram-5 .26 Table 13 Structure of standard telegram-6 .27 Table 14 IDN for configuration of MDT .27 Table 15 IDN for configuration of AT 27 Table 16 IDN for real-time bi

31、ts .28 Table 17 Real-time bits assignment IDNs.29 Table 18 IDN for configuring control and status words .32 Table 19 Data containers IDN 33 Table 20 Ring configuration Timing.37 Table 21 Ring configuration Telegram configuration38 Table 22 Ring configuration Phase run-up 38 Table 23 Service channel

32、protocol .38 Table 24 Information capture the feedback values; synchronise different cycle times and fine interpolators in the PDSs. CP16/1 and CP16/2 shall provide for the cyclic transmission of following telegrams, in that order, as can been shown in Figure 3: 1) The master shall send a synchronis

33、ation telegram that is called MST to all slaves. 2) Each slave shall send its data telegram that is called AT back to the master. 3) The master shall send its master data telegram that is called MDT to all slaves. During network initialisation, the master shall transmit to each slave all parameters

34、that determine the time slot and the data content of these telegrams. In that way each slave shall be able to transmit its AT and to read its part of the MDT without interfering with the others slaves. The communication cycle time shall be selected among the following values: BS EN 61800-7-304:2008

35、20 62,5 s, 125 s, and then 250 s to 65 ms in 250 s increments. 5.11.5 defines 3 granularities. 5.4.2 Handling of command and feedback values The MST shall not only control the access to the network, but also assist in orienting the processing within the PDSs. Designs shall be possible in which the P

36、DSs provide feedback values for the control unit. These values shall be captured in all affected PDSs simultaneously. The capture point indicated by t4referenced to the end of the MST shall be stored in the PDSs as an IDN. The PDSs shall already have a default time interval t5stored as an IDN. This

37、time interval shall indicate the minimum amount of time needed between the capture point t4and the end of the next MST, to allow the PDS to process the captured feedback value for the following AT. t3shall be defined as another parameter. This parameter shall indicate after which time interval, coun

38、ting from the end of the MST, the PDS is allowed to access the new command values transmitted in the MDT. The master stores t3as an IDN in the PDSs. In order to determine t3, the parameter tMTSG(command value proceeding time) shall be stored in the PDSs as an IDN. This parameter shall describe the m

39、inimum time required by the slave to process the new command value(s) for the PDS(s) after the MDT. Figure 3 illustrates these time intervals. Figure 3 Validity of command values and feedback acquisition time in the PDSs Synchronisation of the control loops in the PDSs The feedback values shall be c

40、aptured in time t4in the PDS, and the control loops (cycle time tRcyc) shall be synchronised in the PDS at that time (see Figure 3 and Figure 4). The PDSs need a certain time to activate a newly received command value in the control loop. The command values available at time t3shall be activated in

41、the control loop to the next time t4. If the time between t3and t4is too small, then the command values shall only be activated in the next cycle at time t4. If a PDS is programmed to detect that times t3and t4are in a critical range, it is recommended that the PDS generates a diagnostic message. Th

42、e PDSs manufacturers shall document the dependencies of time t3and t4and the diagnostic message in the PDSs manual. The cycle time within the control unit and the PDSs shall be as specified below: a) The cycle time during which the control unit shall provide new command values for the PDSs shall be

43、called tNcyc. The operating cycle inside of the control unit shall be an integer multiple of the communication cycle time. If the operating cycle time is n times longer than the communication cycle time, the same calculated values shall be transmitted n times in consecutive telegrams: MSTAT MST 1.1

44、t AT1.2 Scyc Slave 1AT 2 Slave 2 t 5.m t4t3tMDTATMTSG.KMATmtRcyct Rcyc BS EN 61800-7-304:2008 21 tNcyc= n tScyc, n = 1,2. (n is an integer that is not related to the abbreviations) b) Micro-processor controlled PDS shall have operating algorithms that are oriented to the data transmission. The cycle

45、 time during which the PDS shall perform its control algorithm shall be called tRcyc. It shall be an integer divider of the communication cycle time, and shall be in phase with the synchronisation telegram. If the PDS cycle time is z times shorter than the communication cycle time, intermediate valu

46、es for command values shall be interpolated inside the PDS: z tRcyc= tScyc, z = 1, 2. (z is an integer that is not related to the abbreviations) Figure 4 shows graphically how tNcyc and tRcyc relate to tScyc. tNcyc tScyc tRcyctNcycTimer: MastermodeTimer: SlavemodetRcyctScycFigure 4 Synchronisation o

47、f cycle times 5.4.3 Position loop with fine interpolator At time t4, the fine interpolator shall provide the corresponding received position command value to the position control. At the same time, the last received position command value shall be provided to the fine interpolator (see Figure 5). Th

48、e fine interpolator shall calculate the differences in the position command values (Pos) for all steps (position control cycles). The differences in the position command values shall be calculated with: the ratio of the NC-cycle time and the PDS cycle time, the position command values, (optionally)

49、the velocity and acceleration, type and order of fine interpolation. Last StepMSTATMST1.1tAT1.2ScycSlave 1AT2Slave 2t5.mt4t3tMDTATMTSG.KMATmtRcyctRcyctRcycLast position commandvalue of the fine interpolator Pos (Fine interpolator)Start fine interpolator1. StepFigure 5 Synchronisation of the control loops and the fine interpolator BS EN 61800-7-304:2008 22 5.5 Telegram contents 5.5.1 General IEC 61800