1 Scope
This part specifies profiles for power drive systems (PDS) and their mapping to existing communication systems by use of a generic interface model.
The functions specified in this part are not intended to ensure functional safety. This requires additional measures according to the relevant standards, agreements and laws.
This part specifies a generic interface between power drive system(s) (PDS) and the application control program in a controller. The generic PDS interface is not specific to any particular communication network technology. Appendixes of this part specify the mapping of the different drive profiles types onto the generic PDS interface.
2 Normative References
The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
IEC 61158-5-2 Industrial Communication Networks - Fieldbus Specifications - Part 5-2: Application Layer Service Definition - Type 2 Elements
IEC 61158-5-3 Industrial Communication Networks - Fieldbus Specifications - Part 5-3: Application Layer Service Definition - Type 3 Elements
IEC 61158-5-10 Industrial Communication Networks - Fieldbus Specifications - Part 5-10: Application Layer Service Definition - Type 10 Elements
IEC 61158-6-2 Industrial Communication Networks - Fieldbus Specifications - Part 6-2: Application Layer Protocol Specification - Type 2 Elements
IEC 61158-6-3 Industrial Communication Networks - Fieldbus Specifications - Part 6-3: Application Layer Protocol Specification - Type 3 Elements
IEC 61158-6-10 Industrial Communication Networks - Fieldbus Specifications - Part 6-10: Application Layer Protocol Specification - Type 10 Elements
IEC 61800-7 (all parts) Adjustable Speed Electrical Power Drive Systems - Generic Interface and Use of Profiles for Power Drive Systems
IEC 61800-7-201 Adjustable Speed Electrical Power Drive Systems - Part 7-201: Generic Interface and Use of Profiles for Power Drive Systems - Profile Type 1 Specification
IEC 61800-7-202 Adjustable Speed Electrical Power Drive Systems - Part 7-202: Generic Interface and Use of Profiles for Power Drive Systems - Profile Type 2 Specification
IEC 61800-7-203 Adjustable Speed Electrical Power Drive Systems - Part 7-203: Generic Interface and Use of Profiles for Power Drive Systems - Profile Type 3 Specification
IEC 61800-7-204 Adjustable Speed Electrical Power Drive Systems - Part 7-204: Generic Interface and Use of Profiles for Power Drive Systems - Profile Type 4 Specification
IEC 61800-7-301 Adjustable Speed Electrical Power Drive Systems - Part 7-301: Generic Interface and Use of Profiles for Power Drive Systems - Mapping of Profile Type 1 to Network Technologies
IEC 61800-7-302 Adjustable Speed Electrical Power Drive Systems - Part 7-302: Generic Interface and Use of Profiles for Power Drive Systems - Mapping of Profile Type 2 to Network Technologies
IEC 61800-7-303 Adjustable Speed Electrical Power Drive Systems - Part 7-303: Generic Interface and Use of Profiles for Power Drive Systems - Mapping of Profile Type 3 to Network Technologies
IEC 61800-7-304 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 Network Technologies
IEC/TR 62390:2005 Common Automation Device - Profile Guideline
EN 50325-4 Industrial Communications Subsystem Based on ISO 11898 (CAN) for Controllerdevice Interfaces - Part 4: CANopen
3 Terms, Definitions and Abbreviated Terms
3.1 Preamble
A Power Drive System (PDS) consists of a motor and the Complete Drive Module (CDM). The complete drive module may include converter, control and self-protection functions and also some auxiliaries (for example ventilation). The PDS does not include the equipment driven by the motor.
Note: This definition is adapted from IEC 61800-1, IEC 61800-2, IEC 61800-3 and IEC 61800-4.
A logical power drive system consists of the PDS and an interface (e.g. communication network, fieldbus or software interface) and is accessed by an application control program over the generic PDS interface as described in Figure 3 to Figure 5.
3.2 General definitions
For the purposes of this document, the following terms and definitions apply.
3.2.1
algorithm
completely determined finite sequence of operations by which the values of the output data can be calculated from the values of the input data
Note: IEV 351-21-37, modified.
3.2.2
application
software functional element specific to the solution of a problem in industrial-process measurement and control
An application may be distributed among resources, and may communicate with other applications.
Note: IEC/TR 62390:2005, 3.1.2, modified.
3.2.3
attribute
property or characteristic of an entity
[IEC/TR 62390:2005, 3.1.3]
3.2.4
axis
logical element inside an automation system (e.g. a motion control system) that represents some form of movement
Note: Axes can be rotary or linear, physical or virtual, controlled or simply observed.
3.2.5
class
description of a set of objects that share the same attributes, operations, methods, relationships, and semantics
Note: ISO/IEC 19501, modified.
3.2.6
control
purposeful action on or in a process to meet specified objectives
[IEV 351-21-29]
3.2.7
control device
physical unit that contains - in a module/subassembly or device - an application program to control the PDS
3.2.8
data type
set of values together with a set of permitted operations
Note: ISO/IEC 2382-15, 15.04.01, modified.
3.2.9
device
field device
networked independent physical entity of an industrial automation system capable of performing specified functions in a particular context and delimited by its interfaces
Note: IEC 61499-1, 3.30, modified.
entity that performs control, actuating and/or sensing functions and interfaces to other such entities within an automation system
[ISO 15745-1, 3.11]
3.2.10
device profile
representation of a device in terms of its parameters and behaviour according to a device model that describes the device’s data and behaviour as viewed through a network, independent from any network technology
Note 1: This is a definition from IEC/TS 61915 which is extended by the addition of the device functional structure.
Note 2: IEC/TR 62390:2005, 3.1.9, modified.
3.2.11
feedback variable
variable which represents a controlled variable and which is returned to a comparing element
[IEV 351-27-03]
3.2.12
functional element
entity of software or software combined with hardware, capable of accomplishing a specified function of a device
Note 1: A functional element has an interface, associations to other functional elements and functions.
Note 2: A functional element can be made out of function block(s), object(s) or parameter list(s).
[IEC/TR 62390:2005, 3.1.12]
3.2.13
input data
data transferred from an external source into a device, resource or functional element
[IEC/TR 62390:2005, 3.1.14]
3.2.14
interface
shared boundary between two entities defined by functional characteristics, signal characteristics, or other characteristics as appropriate
Note: IEV 351-21-35, modified.
3.2.15
logical power drive system
model which includes PDS and communication network accessible through the generic PDS interface
3.2.16
model
mathematical or physical representation of a system or a process, based with sufficient precision upon known laws, identification or specified suppositions
[IEV 351-21-36]
3.2.17
operating mode
characterization of the way and the extent to which the human operator intervenes in the control equipment
[IEV 351-31-01]
3.2.18
output data
data originating in a device, resource or functional element and transferred from them to external systems
[IEC/TR 62390:2005, 3.1.21]
3.2.19
parameter
data element that represents device information that can be read from or written to a device, for example through the network or a local HMI
Note 1: Adapted from IEC/TS 61915.
Note 2: A parameter is typically characterized by parameter name, data type, physical unit and access direction.
[IEC/TR 62390:2005, 3.1.22]
3.2.20
profile
representation of a PDS interface in terms of its parameters, parameter assemblies and behaviour according to a communication profile and a device profile
Note: Used in the national standard “Adjustable Speed Electrical Power Drive Systems” as a synonym for the specifications referenced in the appendixes.
3.2.21
reference variable
input variable to a comparing element in a controlling system which sets the desired value of the controlled variable and is deducted from the command variable
[IEV 351-27-02]
3.2.22
type
hardware or software element which specifies the common attributes shared by all instances of the type
[IEC/TR 62390:2005, 3.1.25]
3.2.23
use case
class specification of a sequence of actions, including variants, that a system (or other entity) can perform, interacting with actors of the system
[IEC/TR 62390:2005, 3.1.26]
3.2.24
variable
software entity that may take different values, one at a time
[IEC/TR 62390:2005, 3.1.27]
Note: The values of a variable as well as of a parameter are usually restricted to a certain data type.
3.3 Specific definitions
3.3.1 Common Definitions
For the purposes of this document, the following terms and definitions apply.
3.3.1.1
actual value
value of a variable at a given instant
[IEV 351-21-02]
Note: Actual values are used in this document as input data of the application control program to monitor variables of the PDS (e.g. feedback variables).
3.3.1.2
application mode
type of application that can be requested from a PDS
Note: The different application modes reflect the control loop for torque control, velocity control, position control or other applications such as homing.
3.3.1.3
commands
set of commands from the application control program to the PDS to control the behaviour of the PDS or functional elements of the PDS
Note 1: The behaviour is reflected by states or operating modes.
Note 2: The different commands may be represented by one bit each.
3.3.1.4
I/O data
input data and output data that would typically need to be updated on a regular basis (e.g. periodic change of state), such as commands, set-points, status and actual values
3.3.1.5
set-point
value or variable used as output data of the application control program to control the PDS
3.3.1.6
status
set of information from the PDS to the application control program reflecting the state or mode of the PDS or a functional element of the PDS
Note: The different status information may be coded with one bit each.
3.3.2 Definitions for Appendix A
For the purposes of Appendix A, the following terms and definitions apply.
3.3.2.1
CANopen
application layer protocol as defined in EN 50325-4
3.3.2.2
object dictionary
list of objects with unique 16-bit index and 8-bit sub-index as defined in EN 50325-4
3.3.2.3
process data object
communication object with real-time capability
3.3.3 Definitions for Appendix B
For the purposes of Appendix B, the terms and definitions given in IEC 61158 and referenced in IEC 61784-1 CPF 2 and the following apply.
3.3.3.1
CIP MotionTM )
extensions to the CIP services and protocol to support motion control over CIP networks
3.3.3.2
CIP Motion drive
any CIP compliant drive device containing one or more Motion Axis Object instances that can communicate to a CIP controller via a CIP Motion I/O connection
3.3.3.3
CIP Motion I/O connection
periodic bi-directional, class 1, CIP connection between a controller and a drive defined as part of the CIP Motion specification, and that is dynamic both in size and content and consists of three prioritised data channels for transfer of cyclic, event, and service data
3.3.3.4
CIP SyncTM13)
extensions to the CIP services and protocol to encapsulate IEC 61588:2004 time synchronization functionality over a CIP Network (see Time Sync Object in IEC 61158-5-2 and IEC 61158-6-2)
3.3.3.5
CIP controller
any CIP compliant controller containing a Motion Control Axis object that can interface to a CIP Motion drive via a CIP Motion I/O connection
Note: A description of the Motion Control Axis object is beyond the scope of IEC 61800-7.
3.3.3.6
cyclic data
high priority real-time data that is transferred by a CIP Motion connection on a periodic basis
Note: This data would be considered I/O Data as defined in IEC 61800-7.
3.3.3.7
event data
medium priority real-time data that is transferred by a CIP Motion connection only after a specified event occurs
Note: Registration and marker input transitions are typical drive events.
3.3.3.8
motion
any aspect of the dynamics of an axis
Foreword II
Introduction IV
1 Scope
2 Normative References
3 Terms, Definitions and Abbreviated Terms
4 General Architecture
4.1 Generic PDS Interface
4.2 Typical Structure of Automation Systems
4.3 Structure of the Logical PDS
4.4 Use Cases of the PDS
5 Functional Elements
5.1 Device Identification FE
5.2 Device Control FE
5.3 Communication FE
5.4 Basic Drive FE
5.5 Optional Application FE
6 Application Modes
6.1 General
6.2 Torque Control
6.3 Speed Control
6.4 Position Control
7 Profile Specific Extensions
8 Structure for Appendixes
8.1 General
8.2 Structure of the Appendixes
Appendix A (Normative) Mapping to Profile CiA 402 Drive and Motion Control
Appendix B (Normative) Mapping to Profile CIP MotionTM
Appendix C (Normative) Mapping to Profile PROFIdrive
Appendix D (Normative) Mapping to Profile SERCOS
Bibliography
