《BS EN 61800-7-202-2008 可调速电驱动设备.电驱动设备轮廓的一般接口和使用.2型轮廓规范.pdf》由会员分享，可在线阅读，更多相关《BS EN 61800-7-202-2008 可调速电驱动设备.电驱动设备轮廓的一般接口和使用.2型轮廓规范.pdf（186页珍藏版）》请在三一文库上搜索。
1、BRITISH STANDARD BS EN 61800-7-202:2008 Adjustable speed electrical power drive systems Part 7-202: Generic interface and use of profiles for power drive systems Profile type 2 specification ICS 29.200; 35.100.05 BS EN 61800-7-202:2008 This British Standard was published under the authority of the S
2、tandards Policy and Strategy Committee on 30 June 2008 BSI 2008 ISBN 978 0 580 60076 0 National foreword This British Standard is the UK implementation of EN 61800-7-202:2008. It is identical to IEC 61800-7-202:2007. The UK participation in its preparation was entrusted to Technical Committee PEL/22
3、, Power electronics. A list of organizations represented on this committee can be 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 canno
4、t confer immunity from legal obligations. Amendments/corrigenda issued since publication DateComments EUROPEAN STANDARD EN 61800-7-202 NORME EUROPENNE EUROPISCHE NORM April 2008 CENELEC European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europische
5、s Komitee fr Elektrotechnische Normung Central Secretariat: rue de Stassart 35, B - 1050 Brussels 2008 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61800-7-202:2008 E ICS 29.200; 35.100.05 English version Adjustable speed elect
6、rical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification (IEC 61800-7-202:2007) Entranements lectriques de puissance vitesse variable - Partie 7-202: Interface et utilisation gnriques de profils pour les entranements lectriq
7、ues de puissance - Spcifications des profils de type 2 (CEI 61800-7-202:2007) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-202: Generisches Interface und Nutzung von Profilen fr Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 2 (IEC 61800-7-202:2007) This Eu
8、ropean 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 bibliographical referen
9、ces 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 CENELEC mem
10、ber 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, Iceland
11、, 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/184/FDIS, future edition 1 of IEC 61800-7-202, prepared by SC 22G, Adjustable speed ele
12、ctric 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 61800-7-202 on 2008-02-01. The following dates were fixed: latest date by which the EN has to be im
13、plemented at national level by publication of an identical national standard or by endorsement (dop) 2008-11-01 latest date by which the national standards conflicting with the EN have to be withdrawn (dow) 2011-02-01 The International Electrotechnical Commission (IEC) and CENELEC draw attention to
14、the fact that it is claimed that compliance with this document may involve the use of a patent concerning: Publication/ Application serial number Holder Title US 11/241,539 RA Time Stamped Motion Control Network Protocol That Enables Balanced Single Cycle Timing and Utilization of Dynamic Data Struc
15、tures The IEC and CENELEC take no position concerning the evidence, validity and scope of this patent right. The holder of this patent right has assured the IEC that he/she is willing to negotiate licences under reasonable and non-discriminatory terms and conditions with applicants throughout the wo
16、rld. In this respect, the statement of the holder of this patent right is registered with the IEC. Information may be obtained from: RA Rockwell Automation, Inc. 1201 S. Second Street Milwaukee, WI 53204 USA Attention: Intellectual Property Dept. Attention is drawn to the possibility that some of th
17、e elements of this document may be the subject of patent rights other than those identified above. IEC and CENELEC shall not be held responsible for identifying any or all such patent rights. Annex ZA has been added by CENELEC. _ Endorsement notice The text of the International Standard IEC 61800-7-
18、202:2007 was approved by CENELEC as a European Standard without any modification. _ BS EN 61800-7-202:2008 2 CONTENTS INTRODUCTION.1 1 Scope.1 2 Normative references .1 3 Terms, definitions and abbreviated terms .1 3.1 Terms and definitions 1 3.2 Abbreviated terms .2 4 General 2 4.1 General .2 4.2 C
19、ontrol modes.2 4.2.1 General .2 4.2.2 Control methods 2 4.2.3 Control nomenclature 2 4.2.4 Position Control.2 4.2.5 Velocity Control .2 4.2.6 Acceleration Control 2 4.2.7 Torque Control 2 4.2.8 No Control.2 5 Data types2 5.1 Data type overview2 5.2 Conventions 2 6 CIP Drive Profile.2 6.1 Object mode
20、l.2 6.1.1 Object overview.2 6.1.2 Object description 6.2 How objects affect behaviour. 6.3 Defining object interfaces 6.4 I/O Connection messages .3 6.4.1 General .3 6.4.2 CIP Motion I/O connection.3 6.4.3 Controller-to-Device connection.3 6.4.4 Device-to-Controller connection.4 6.4.5 Fixed Device c
21、onnection format.5 6.4.6 CIP Motion connection timing 5 6.5 Drive startup procedure.6 6.5.1 General .6 6.5.2 Motion I/O Connection creation .6 6.5.3 Motion Axis Object configuration .6 6.5.4 Time Synchronisation 6 6.6 Device visualisation.6 6.7 Ethernet Quality of Service (QoS)6 7 Motion Axis Object
22、 .6 7.1 General considerations6 7.1.1 General .6 7.1.2 Object overview.6 BS EN 61800-7-202:2008 3 7.1.3 Motion Axis Object abstraction 6 7.1.4 Motion Control Axis Object 6 7.1.5 Drive control classification.6 7.1.6 Required vs. Optional in implementation6 7.2 Class attributes .7 7.2.1 General .7 7.2
23、.2 Semantics .7 7.3 Instance attributes.8 7.3.1 General .8 7.3.2 Motion Control configuration attributes 8 7.3.3 Motor attributes .8 7.3.4 Feedback attributes.9 7.3.5 Event Capture attributes9 7.3.6 Command reference generation attributes .10 7.3.7 Control mode attributes .10 7.3.8 Stopping one pass
24、ing data from the controller to the drive and the other passing data from the drive to the controller. Both CIP Motion connection data structures (Controller-to-Device and Device-to-Controller) begin with a Connection Header that includes a 32-bit time stamp, followed by a series of data blocks for
25、each axis instance supported by the drive node. BS EN 61800-7-202:2008 32 Each instance data block within the CIP Motion I/O connection packet consists of three sets of data blocks associated with the cyclic, event, and service data channels. The size of these data blocks for a given update is varia
26、ble and determined by the connection and instance data block headers. From the drives perspective, these three distinct data channels have different data processing priorities as illustrated in Figure 13. Figure 13 CIP Motion I/O Connection Channels The specific functionality of these three data cha
27、nnels is as follows: Cyclic Data Channel carries cyclic data blocks that are sampled or calculated every Controller Update Period and synchronised with other nodes in the motion control system through use of distributed System Time. Cyclic data is high priority data that shall be immediately process
28、ed and applied to the drive axis within one Device Update Period. Event Data Channel - carries event data associated with drive event(s) (e.g. registration, homing, etc.) that have occurred within the last Controller Update Period. Event data is medium priority and shall be processed and applied wit
29、hin one Controller Update Period. Service Data Channel carries data associated with service requests to read or write attribute values of the Motion Axis Object as part of on-line configuration and diagnostic functionality, as well as service requests to affect Motion Axis Object behaviour as part o
30、f controller instruction execution. Service data has lowest priority and is typically buffered and processed as a background task. There is no guarantee that a service request will be processed within Controller Update Period. Taken together, these three data channels provide a comprehensive control
31、ler to drive data connection solution for industrial motion control. 6.4.3 Controller-to-Device connection 6.4.3.1 General To facilitate a detailed description of each of its constituent data elements, the CIP Motion Controller-to-Device Connection is organised as shown in Figure 14. CIP Motion Cont
32、roller-to-Device Connection Format Connection Header Instance Data Blocks Figure 14 CIP Motion Controller-to-Device Connection Format CIP Motion I/O Connection Cyclic Data Channel Event Data Channel Service Data Channel BS EN 61800-7-202:2008 33 6.4.3.2 Controller-to-Device connection header 6.4.3.2
33、.1 General structure The Controller-to-Device Connection Header contains critical axis configuration information needed to parse the Instance Data Blocks. The fixed portion of the connection header is defined as shown in Figure 15. Connection Header Connection Format Format Revision Update ID Node C
34、ontrol Figure 15 Connection Header Connection Format: This enumerated byte determines what the format of CIP Motion connection is according to the definition in Figure 16. Bit 7 Bit 0 Connection Format (Reserved) Connection Type Figure 16 Connection Format Connection Type: This 4-bit enumeration def
35、ines the CIP Motion connection type as shown below. Valid values for a Controller-to-Device Connection are 2 and 6. Fixed connections have a fixed connection size during operation to support lower-performance CIP networks like ControlNet and DeviceNet and typically associated with a simple single ax
36、is drive device that does not support time synchronisation services. Variable connections allow the connection data structure to vary in size during operation and are targeted for high-performance drives and CIP networks like EtherNet/IP. 0 = Reserved 1 = Reserved 2 = Fixed Controller-to-Device Conn
37、ection 3 = Fixed Device-to-Controller Connection 4 = Reserved 5 = Reserved 6 = Variable Controller-to-Device Connection 7 = Variable Device-to-Controller Connection 8 to 15 = Reserved. Format Revision: This edition of IEC 61800-7-202 defines Format Revision 1. Devices utilizing this edition of IEC 6
38、1800-7-202 will only recognize Format Revision 1. This value is incremented by 1 for every revision of the Controller-to-Device Connection format that impacts the interface. The Format Revision allows newer drives to support the connection formats generated by an older controller. It also allows old
39、er drives to recognise a newer connection format from a controller that it cannot support and to generate a Node Fault Errror Code 4 (Data Format Error). Update ID: This cyclic transaction number is incremented every update period. The Update ID is like the CIP sequence count and is used by the driv
40、e to determine whether the connection buffer contains fresh data. If the Update ID has not changed, the drive attempts to ride through the missed update by extrapolation based on previous trajectory until fresh data arrives. In the case where the drive axis is not synchronised, or does not support t
41、ime synchronisation services, the time stamp data is either not included or invalid, so the Update ID is the only way for the drive to detect new connection data. In this case, the Controller-to-Device Connection Update ID is applied to the next Device-to- Controller Connection Update ID. Node Contr
42、ol: This element is applied to the Motion Axis Object class attribute “Node Control”, which is used to control the state of the associated drive communications node. See 7.2.2.3 (Motion Axis Object) for details. BS EN 61800-7-202:2008 34 6.4.3.2.2 Fixed connection header If the Connection Format is
43、a Fixed Controller-to-Device Connection, the above header is immediately followed by the instance data block. 6.4.3.2.3 Variable connection header If the Connection Format is a Variable Controller-to-Device Connection, then the connection header contains additional fields related to multi-axis drive
44、 addressing and time stamping, as shown in Figure 17. Connection Header Connection Format Format Revision Update ID Node Control Instance Count - - Time Data Set Controller Update Period Controller Time Offset Controller Time Stamp Figure 17 Connection Header Instance Count: This value reflects the
45、number of instance data blocks present in the CIP Motion Controller-to-Device Connection data structure. Time Data Set: This bit-mapped byte contains flags that determine the usage and format of the controller and drive timing information, as specified in Table 5. The Time Data Set value sent by the
46、 controller in the Controller-to-Device Connection becomes the Time Data Set value sent by the drive in the Device-to-Controller Connection. The value of this element is transferred to the Motion Axis Object attribute “Command Data Set”. Table 5 Time Data Set Bit Definition Syntax 0 Update Period 0
47、= no update period 1 = update period included 1 Time Stamp 0 = no time stamp and offset 1 = time stamp and offset included 2 Time Diagnostic Data 0 = no diagnostic data 1 = diagnostic data included 3 to 7 (Reserved) Controller Update Period: This 32-bit element specifies the update period of the Con
48、troller-to-Device Connection in nanoseconds. The value of this element is transferred to the Motion Axis Object class attribute of the same name. When the connection is synchronised, the Controller Update Period can be used by the drive along with the Controller Time Stamp to check for missed or lat
49、e updates. If the difference between the last Controller Time Stamp and the current local drive time stamp exceeds the maximum value given by, Max Delay = Controller Update Delay High Limit Controller Update Period, the Controller Update Fault bit is set in the Node Faults class attribute of the Motion Axis Object. An optional Controller Update Delay Low Limit attribute is also available. If the difference between the la