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BS EN 61800-7-304:2016

BS EN 61800-7-304:2016

$215.11

Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Mapping of profile type 4 to network technologies

Published By Publication Date Number of Pages
BSI 2016 98
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IEC 61800-7-304:2015 specifies the mapping of the profile type 4 (SERCOS) specified in IEC 61800-7-204 onto different network technologies. This edition includes the following significant technical change with respect to the previous edition: Update of mapping specification.

PDF Catalog

PDF Pages PDF Title
6 English
CONTENTS
10 FOREWORD
12 INTRODUCTION
15 Figures
Figureย 1 โ€“ Structure of IECย 618007
16 1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
22 3.2 Abbreviated terms
4 General
23 5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II)
5.1 Reference to communication standards
5.2 Overview
Tables
Table 1 โ€“ CP16/1 and CP16/2 feature summary
24 Table 2 โ€“ Number of PDSs per network (examples)
25 5.3 Physical layer and topology
Table 3 โ€“ Communication Profile Interoperability within a network
26 5.4 Synchronization mechanism
5.4.1 General
Figure 2 โ€“ Topology
27 5.4.2 Handling of command and feedback values
Figure 3 โ€“ Validity of command values and feedback acquisition time in the PDSs
28 5.4.3 Position loop with fine interpolator
Figure 4 โ€“ Synchronization of cycle times
29 5.5 Telegram contents
5.5.1 General
Figure 5 โ€“ Synchronization of the control loops and the fine interpolator
Table 4 โ€“ Typical operation data for cyclic transmission
30 5.5.2 Data block
5.5.3 Communication function group telegrams
Table 5 โ€“ Typical data for non-cyclic transmission
31 5.5.4 Standard telegrams
Table 6 โ€“ IDN for choice and parameterisation of telegrams
Table 7 โ€“ Structure of standard telegram-0
Table 8 โ€“ Structure of standard telegram-1
Table 9 โ€“ Structure of standard telegram-2
32 Table 10 โ€“ Structure of standard telegram-3
Table 11 โ€“ Structure of standard telegram-4
33 5.5.5 Application telegrams
Table 12 โ€“ Structure of standard telegram-5
Table 13 โ€“ Structure of standard telegram-6
Table 14 โ€“ IDN for configuration of MDT
34 5.6 Non-cyclic data transfer
5.7 Real-time bits
5.7.1 Functions of real time bits
Figure 6 โ€“ AT configuration (example)
Table 15 โ€“ IDN for configuration of AT
35 Table 16 โ€“ IDN for real-time bits
Table 17 โ€“ Real-time bits assignment IDNs
36 5.7.2 Allocation of real-time bits
5.7.3 Possible cases
Figure 7 โ€“ Function of the real-time bits
37 Figure 8 โ€“ Allocation of IDN ( 0 to the real-time bits
38 Figure 9 โ€“ Allocation of IDN = 0 to the real-time bits
39 5.8 Signal control word and signal status word
Figure 10 โ€“ Allocation of IDN ( 0 to the real-time bits
Table 18 โ€“ IDN for configuring control and status words
40 5.9 Data container
Figure 11 โ€“ Configuration example of signal status word
Table 19 โ€“ Data containers IDN
41 Figure 12 โ€“ Data container configuration without acknowledge (slave)
42 5.10 Drive shutdown functions
Figure 13 โ€“ Data container configuration with acknowledge (slave)
43 5.11 Communication classes
5.11.1 General
Figure 14 โ€“ Structure of communication classes
44 5.11.2 Communication class A
Table 20 โ€“ Ring configuration โ€“ Timing
Table 21 โ€“ Ring configuration โ€“ Telegram configuration
45 Table 22 โ€“ Ring configuration โ€“ Phase run-up
Table 23 โ€“ Service channel protocol
Table 24 โ€“ Information & diagnostics
46 5.11.3 Communication class B (Extended functions)
Table 25 โ€“ Communication class A settings
Table 26 โ€“ Ring configuration โ€“ Telegram configuration
47 5.11.4 Communication class C (Additional functions)
Table 27 โ€“ Information & diagnostics
Table 28 โ€“ Real-time control bits
Table 29 โ€“ Real-time status bits
Table 30 โ€“ Communication class B settings
48 5.11.5 Communication cycle time granularity
6 Mapping to CP16/3 (SERCOS III)
6.1 Reference to communication standards
49 6.2 Overview
Table 31 โ€“ CP16/3 features summary
50 6.3 Physical layer and topology
Figure 15 โ€“ Topology
51 6.4 Synchronization mechanism and telegram content
6.5 Non-cyclic data transfer
Figure 16 โ€“ Telegram sequence
52 6.6 Communication cycles
6.7 Drive classes
6.7.1 General
Figure 17 โ€“ General communication cycle
53 6.7.2 Torque axis
Table 32 โ€“ Mandatory bit combinations of Drive control
Table 33 โ€“ Mandatory bit combinations of Drive status
54 6.7.3 Velocity axis
Table 34 โ€“ Supported operation mode
Table 35 โ€“ Supported torque/force scaling
55 6.7.4 Velocity axis with position feedback
Table 36 โ€“ Supported operation mode
Table 37 โ€“ Supported velocity scaling
56 Table 38 โ€“ Supported operation mode
Table 39 โ€“ Supported position polarity
57 6.7.5 Position axis
Table 40 โ€“ Supported velocity scaling
Table 41 โ€“ Supported position scaling
58 Table 42 โ€“ Supported operation mode
Table 43 โ€“ Supported position polarity
Table 44 โ€“ Supported velocity scaling
Table 45 โ€“ Supported position scaling
59 6.7.6 Positioning axis
Table 46 โ€“ Supported torque/force scaling
60 Table 47 โ€“ Supported operation mode
Table 48 โ€“ Supported position polarity
Table 49 โ€“ Supported velocity scaling
Table 50 โ€“ Supported position scaling
61 7 Mapping to EtherCAT
7.1 Reference to communication standards
7.2 Overview
Table 51 โ€“ Supported torque/force scaling
Table 52 โ€“ Supported acceleration scaling
62 7.3 SoE synchronization
7.3.1 General
Table 53 โ€“ EtherCAT feature summary
Table 54 โ€“ Number of PDSs per network (examples)
63 7.3.2 CP16 Phase 0-2
7.3.3 CP16 Phase 3-4
7.4 SoE Application Layer Management
7.4.1 EtherCAT State Machine and IECย 61784 CPF 16 State Machine
Figure 18 โ€“ ESM and IECย 61158-4-16 State Machine
64 7.4.2 Multiple drives
7.4.3 IDN usage
Table 55 โ€“ Obsolete IDNs
65 7.5 SoE Process Data Mapping
Table 56 โ€“ Changed IDNs
66 Table 57 โ€“ Status word of drive
67 Table 58 โ€“ Control word for drive
68 7.6 SoE Service Channel Services
7.6.1 Overview
7.6.2 SSC Read
Table 59 โ€“ Mapping of SSC services to EtherCAT services
69 Figure 19 โ€“ Successful SSC Read sequence
Figure 20 โ€“ Unsuccessful SSC Read sequence
70 Figure 21 โ€“ Successful SSC Fragmented Read sequence
Table 60 โ€“ SSC Read service
72 7.6.3 SSC Write
Table 61 โ€“ Read SSC Fragment service
73 Figure 22 โ€“ Successful SSC Write sequence
Figure 23 โ€“ Unsuccessful SSC Write sequence
74 Figure 24 โ€“ Successful SSC Fragmented Write sequence
Table 62 โ€“ SSC Write service
76 7.6.4 SSC Procedure Commands
Table 63 โ€“ Write SSC Fragment service
77 Figure 25 โ€“ Successful SSC Procedure Command sequence
78 Figure 26 โ€“ Aborted SSC Procedure Command sequence
Table 64 โ€“ Notify SSC Command Execution service
79 7.6.5 SSC Slave Info
Figure 27 โ€“ Slave Info sequence
80 7.7 SoE Coding general
Table 65 โ€“ SSC Slave Info service
81 Table 66 โ€“ SoE Mailbox protocol
82 7.8 SoE Protocol Data Unit Coding
7.8.1 SSC Read
83 Table 67 โ€“ SSC Read request
84 Table 68 โ€“ SSC Read response
85 Table 69 โ€“ Read SSC Fragment request
86 7.8.2 SSC Write
87 Table 70 โ€“ SSC Write request
89 Table 71 โ€“ SSC Write response
90 Table 72 โ€“ Write SSC Fragment request
91 7.8.3 Notify SSC Command Execution request
92 7.8.4 SSC Slave Info
Table 73 โ€“ Notify SSC Command Execution request
93 Table 74 โ€“ Slave Info request
94 Bibliography

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BS EN 61800-7-304:2016
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