Iec 61800 7 202 2015

This CIP Motion drive prof ile sp cification an the as ociated Motion Device Axis Object sp cification define the interf ace, the sp cific atributes, an comman b haviors req ired to s p

Adjust able speed elect rical pow er drive syst ems –

Part 7- 202: Generic int er ace and use of profi es for pow er driv e syst ems –

Profi e ty e 2 specificat ion

Ent raînement s élect riques de puissance à vit esse variable –

Part ie 7- 202: Int er ace générique et ut il sat ion de profi s pour les ent raînement s

élect riques de puissance – Spécificat ion de profi de type 2

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Interntio l Eletr ote nicl Com isio

Adjust able speed elect rical pow er drive syst ems –

Part 7- 202: Generic int er ace and use of profi es for pow er driv e syst ems –

Profi e type 2 specificat ion

Ent raînement s élect riques de puissance à vit esse variable –

Part ie 7- 202: Int er ace générique et ut il sat ion de profi s pour les ent raînement s

élect riques de puissance – Spécificat ion de profi de ty e 2

INT ERNAT IONAL

ELECT ROT ECHNICAL

COMMIS ION

ELECT ROT ECHNIQUE

INT ERNAT IONALE

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FOREWORD 10

INTRODUCTION 12

0.1 General 12

0.2 Patent declaration 15

1 Sco e 17

2 Normative ref eren es 17

3 Terms, def i ition an a breviated terms 17

3.1 Terms an def i ition 17

3.2 Ab reviated terms 2

4 Overview 2

4.1 General 2

4.2 Control modes 2

4.2.1 General 2

4.2.2 Control method 2

4.2.3 Control nomen lature 2

4.2.4 Position control 2

4.2.5 Velocity control 2

4.2.6 Ac eleration control 3

4.2.7 Torq e control 3

4.2.8 No Control 31

5 Data typ s 3

5.1 Data typ overview 3

5 2 Con ention 3

6 CIP Motion drive profie 3

6.1 Object model 3

6.1.1 Object overview 3

6.1.2 Object des ription 3

6.2 How o jects af fect b havior 3

6.3 Definin o ject interf aces 3

6.4 I/O con ection mes ages 3

6.4.1 General 3

6.4.2 CIP Motion I/O Con ection 3

6.4.3 Control er to-Device Con ection 3

6.4.4 Device-to-Controler Con ection 5

6.4.5 Fixed Motion I/O con ection f ormat 6

6.4.6 CIP Motion I/O Con ection timin model 6

6.5 Device startup proced re 8

6.5.1 General 8

6.5.2 Motion I/O Con ection cre tion 8

6.5.3 Motion Device Axis Object config ration 8

6.5.4 Time Sy c ronization 9

6.6 Device vis al sation 9

6.7 Ethernet IP Qual ty of Service (QoS) 9

7 Motion Device Axis Object 9

7.1 General con ideration 9

Interntio l Eletr ote nicl Com isio

7.1.1 General 9

7.1.2 Revision history 9

7.1.3 Object overview 9

7.1.4 Motion Device Axis Object a straction 9

7.1.5 Motion Control Axis Object 9

7.1.6 Device control clas if i ation 9

7.1.7 Req ired v Optional in implementation 9

7.2 Clas atributes 10

7.2.1 General 10

7.2.2 Semantic 1 1

7.3 In tan e atributes 1 4

7.3.1 General 1 4

7.3.2 Motion Control config ration atributes 1 6

7.3.3 Motion Scal n at ributes 1 7

7.3.4 Con ection Data atributes 12

7.3.5 Motor atributes 12

7.3.6 F edb c atributes 14

7.3.7 Event Ca ture atributes 14

7.3.8 Comman ref eren e generation atributes .15

7.3.9 Control mode atributes 15

7.3.10 Sto pin & Brakin at ributes 17

7.3.11 DC Bu Control atributes 18

7.3.12 Power an thermal management atributes 19

7.3.13 Axis Statu atributes 19

7.3.14 Ex e tion, f ault, an alarm atributes 19

7.3.15 F ult an alarm L g at ributes 2 5

7.3.16 Ex e tion lmit atributes 210

7.3.17 Axis ex e tion action config ration at ribute 213

7.3.18 Initial zation f ault at ributes 215

7.3.19 Start in ibit atributes 216

7.3.20 APR f ault atributes 217

7.3.21 Axis statistical at ributes 219

7.3.22 Axis inf o at ributes 219

7.3.23 General purp se I/O at ributes 2 0

7.3.24 L cal Mode atributes 2 2

7.3.25 Axis Safety atributes 2 2

7.4 Common services 2 3

7.4.1 Sup orted services 2 3

7.4.2 Service sp cif i data 2 4

7.5 Object sp cif i services 2 6

7.5.1 Sup orted services 2 6

7.5.2 Service sp cif i data 2 6

7.6.7 F edb c interf ace b havior 2 1

7.6.8 Event Ca ture Behavior 2 3

7.6.9 Control Mode b havior 2 4

Biblogra h 2 8

Fig re 1 – Stru ture of IEC 618 0-7 15

Fig re 2 – Op n lo p p sition control 2

Fig re 3 – Closed lo p p sition control 2

Fig re 4 – Op n lo p velocity control 2

Fig re 5 – Closed lo p velocity control 2

Fig re 6 – Ac eleration control 3

Fig re 7 – Torq e control 31

Fig re 8 – No Control (Fe db c Only) 31

Fig re 9 – Object Model f or a CIP Motion device 3

Fig re 10 – CIP Motion I/O Con ection model 3

Fig re 1 – CIP Motion I/O Con ection c an els 3

Fig re 12 – Control er to-Device Con ection format (Con ection Point 2) 3

Fig re 13 – Device-to-Control er Con ection f ormat (Con ection Point 2) 3

Fig re 14 – CIP Motion Control er to-Device Con ection format 3

Fig re 15 – Con ection He der 3

Fig re 16 – Con ection Format 3

Fig re 17 – Con ection He der 4

Fig re 18 – In tan e Data Bloc 4

Fig re 19 – In tan e Data He der 4

Fig re 2 – Cy l c Data Bloc 4

Fig re 21 – Control Mode 4

Fig re 2 – Fe db c Mode 4

Fig re 2 – Cy l c Write Data Bloc 5

Fig re 2 – Cy l c Write Data Bloc example 5

Fig re 2 – Event Data Bloc 51

Fig re 2 – Service Data Bloc 5

Fig re 2 – CIP Motion Device-to-Control er Con ection f ormat 5

Fig re 2 – Con ection He der 5

Fig re 2 – Con ection He der 6

Fig re 3 – Node FaultAlarm 61

Fig re 31 – Adju tment of actual p sition data b sed on Device Time Stamp 6

Fig re 3 – In tan e Data Bloc 6

Fig re 3 – In tan e Data He der 6

Fig re 3 – Cy l c Data Bloc 6

Fig re 3 – Cy l c Re d Data Bloc 6

Fig re 3 – Cy l c Re d Data Bloc example 6

Fig re 3 – Event Data Bloc 6

Fig re 3 – Service Data Bloc 6

Interntio l Eletr ote nicl Com isio

Fig re 3 – Fixed Control er to-Device Con ection format (fixed size = 16 bytes) 6

Fig re 4 – Fixed Device-to-Controler Con ection format (fixed size = 16 bytes) 6

Fig re 41 – CIP Motion 1-Cy le timin model 7

Fig re 4 – CIP Motion 2-Cy le timin model 7

Fig re 4 – CIP Motion 3-Cy le timin model 7

Fig re 4 – Control er to-Device Con ection timin with fine interp lation 7

Fig re 4 – Control er to-Device Con ection timin with extra olation 7

Fig re 4 – Use of Time Stamp to adju t actual p sition to the control er’s time ase 7

Fig re 4 – Co rdination of two drives with diff erent Update Period 7

Fig re 4 – Co rdination of multiple drive axes in case of delayed Control er to-Device Con ection p c ets 8

Fig re 4 – Pro agation of a ste c an e in time 81

Fig re 5 – Config ration Bloc F rmat Revision 1 (Con ection Point 81) 8

Fig re 51 – Config ration Bloc F rmat Revision 2 (Con ection Point 8 ) 8

Fig re 5 – Typical initial C-to-D con ection data bloc 8

Fig re 5 – Typical initial D-to-C con ection data bloc 8

Fig re 5 – Typical contents of first C-to-D clas atribute config ration p c et 8

Fig re 5 – Typical resp n e to first C-to-D clas con g ration p c et 8

Fig re 5 – Typical contents of first C-to-D axis in tan e config ration p c et 8

Fig re 5 – Typical resp n e to first C-to-D axis config ration p c et 9

Fig re 5 – Typical contents of C-to-D Time Sy c service req est p c et 9

Fig re 5 – Group Sy c of CIP Motion devices 91

Fig re 6 – Object comp nents for CIP Motion control arc itecture 9

Fig re 61 – Comman Control Word field 12

Fig re 6 – IEEE Std 1 2 p r phase motor model 13

Fig re 6 – Event Chec in Control Word f ield 15

Fig re 6 – Event Chec in Statu word field .15

Fig re 6 – Brake Control Seq en e (Category 0 Sto ) 18

Fig re 6 – Brake Control Seq en e (Category 1 Sto ) 18

Fig re 6 – Brake Control Seq en e (Category 2 Sto ) 18

Fig re 6 – Drive Ena le seq en e with Provin fe ture 18

Fig re 6 – Drive Disa le seq en e with Provin f eature 18

Fig re 7 – Get_Axis_Atributes_ ist Req est rormat 2 7

Fig re 71 – Get_Axis_Atributes_ ist Resp n e format 2 8

Fig re 7 – Get_Axis_Atributes_ ist Resp n e – Sin le 4-byte at ribute 2 8

Fig re 7 – Get_Axis_Atributes_ ist Resp n e – Sin le 2-byte at ribute 2 8

Fig re 7 – Get_Axis_Atributes_ ist Resp n e – Byte atribute ar ay 2 9

Fig re 7 – Get_Axis_Atributes_ ist Resp n e – Two Dimen ional at ribute ar ay 2 9

Fig re 81 – Set_Axis_Atributes_ ist Req est – Two dimen ional atribute ar ay 2 1

Fig re 8 – Set_Axis_Atributes_ ist Resp n e f ormat 2 1

Fig re 8 – Set_Cy l c_Write List Req est format 2 2

Fig re 8 – Set_Cy l c_Write List Resp n e f ormat 2 2

Fig re 8 – Set_Cy l c_Re d_ ist Req est f ormat 2 3

Fig re 8 – Set_Cy l c_Re d_ ist Resp n e f ormat 2 3

Fig re 8 – Motion Device Axis Object State Model 2 1

Fig re 8 – Motion Device Axis Object State Model for Fe db c Only 2 3

Fig re 8 – Motion Device Axis Object State Model for Con erter 2 4

Fig re 9 – Comman Generator 2 7

Fig re 91 – Fe db c Chan els 1 an 2 2 2

Fig re 9 – Event Ca ture Fu ctional ty 2 3

Fig re 9 – No Control (Fe db c Only) 2 5

Fig re 9 – Closed L o Position Control .2 6

Fig re 9 – Closed L o Velocity Control 2 8

Fig re 9 – Op n L o Freq en y Control 2 0

Fig re 9 – Ac eleration Control 2 2

Fig re 9 – Torq e Control 2 2

Fig re 9 – Closed L o Cur ent Vector Control 2 6

Ta le 1 – Data typ s 3

Ta le 2 – Objects present in a CIP Motion device 3

Ta le 3 – Motion Device Axis Object content by Device Typ 3

Ta le 4 – Object ef fect on b havior 3

Ta le 5 – Object interaces 3

Ta le 6 – Time Data Set 41

Ta le 7 – Axis Control 4

Ta le 8 – Control Statu 4

Ta le 9 – Comman Data Set 4

Ta le 10 – Comman Data Element to Motion Device Axis Object atribute ma pin 4

Ta le 1 – Actual Data Set 4

Ta le 12 – Actual Data Element to Motion Device Axis Object atribute Ma pin 4

Ta le 13 – Statu Data Set 4

Ta le 14 – Comman Control 4

Ta le 15 – Comman Target Update v Update Period Ratio 4

Ta le 16 – Basic Event Cy le 51

Ta le 17 – Exten ed Event Cy le 5

Ta le 18 – Basic Event Cy le with Auto- e rm 5

Ta le 19 – Registration Data Set 5

Ta le 2 – Home Data Set 5

Ta le 21 – Watc Data Set 5

Ta le 2 – Axis Resp n e 6

Ta le 2 – Event Typ 6

Interntio l Eletr ote nicl Com isio

Ta le 2 – Pro agation of a ste c an e in time (example 1) 81

Ta le 2 – Pro agation of a ste c an e in time (example 2) 8

Ta le 2 – CIP Motion vis alsation comp nents 9

Ta le 2 – Motion Device Axis Object revision history 9

Ta le 2 – Example f or in tan e at ribute implementation v Device Fu ction Code 9

Ta le 2 – In tan e atribute implementation v Device Fu ction Code 9

Ta le 3 – Clas atributes for the Motion Device Axis Object 10

Ta le 31 – Node Control bit definition 1 1

Ta le 3 – Node Statu bit def i ition 1 2

Ta le 3 – Node Fault Code def i ition 1 3

Ta le 3 – Node Alarm Code definition 1 4

Ta le 3 – Dy amic Units v F edb c Mode 1 6

Ta le 3 – Motion Control con g ration atributes 1 6

Ta le 3 –Control Mode en meration def i ition 1 7

Ta le 3 – Control Method en meration definition 1 7

Ta le 3 – Motion Scal n at ributes 1 8

Ta le 4 – Motion Unit selection rules 12

Ta le 41 – Sig al atributes af fected by Motion Polarity 121

Ta le 4 – Directional Limit at ributes af fected by Motion Polarity 12

Ta le 4 – Con ection Data at ributes 12

Ta le 4 – Actual Data Set value determination 12

Ta le 4 – Comman Data Set value determination 12

Ta le 4 – Comman Target Update en meration definition 12

Ta le 4 – Comman Position Data Typ en meration definition 12

Ta le 4 – Statu Data Set bit definition 12

Ta le 4 – Registration Event Data format 12

Ta le 5 – Home Event Data f ormat 12

Ta le 51 – Watc Event Data format 12

Ta le 5 – General Motor Info at ributes 13

Ta le 5 – General Motor Config ration atributes 131

Ta le 5 – General PM Motor Con g ration at ributes 13

Ta le 5 – General Rotary Motor Config ration at ributes 13

Ta le 5 – General Line r Motor Con g ration atributes .13

Ta le 5 – Rotary PM Motor Config ration at ributes 13

Ta le 5 – Line r PM Motor Config ration atributes 13

Ta le 5 – In u tion Motor Con g ration at ributes 13

Ta le 6 – L ad Tran mis ion an Actuator Config ration atributes 13

Ta le 6 – Fe db c Mode en meration def i ition 14

Ta le 6 – Event atributes 15

Ta le 6 – Event Chec in Control bit definition 15

Ta le 7 – Event Chec in Statu bit definition 15

Ta le 71 – Comman Generator Sig al atributes 15

Ta le 7 – Comman Generator Config ration at ributes 15

Ta le 7 – Position L o Sig al at ributes 15

Ta le 7 – Position L o Config ration atributes 16

Ta le 7 – Velocity L o Sig al at ributes 16

Ta le 7 – Velocity L o Config ration atributes 16

Ta le 7 – Ac eleration Sig al at ributes 16

Ta le 7 – Ac eleration Config ration atributes 16

Ta le 7 – Torq e/Force Control Sig al atributes 16

Ta le 8 – Torq e/Force Control Config ration atributes .16

Ta le 81 – Cur ent Control Sig al atributes 16

Ta le 8 – Cur ent Control Config ration atributes 171

Ta le 8 – Freq en y Control Sig al atributes 17

Ta le 8 – Freq en y Control Config ration atributes 17

Ta le 8 – Drive Output atributes 17

Ta le 8 – Sto pin /Brakin atributes 17

Ta le 8 – Sto pin Action en meration definition 18

Ta le 8 – Provin s b- e ture atribute de en en ies 18

Ta le 8 – DC Bu Control at ributes 18

Ta le 9 – Power an Thermal Management Statu atributes 19

Ta le 91 – Power an Thermal Management Config ration at ributes 19

Ta le 9 – Axis Statu at ributes 19

Ta le 9 – Axis Statu bit definition 19

Ta le 9 – Axis Statu bit v Axis State 19

Ta le 9 – Sto pin Action v Sto Category 19

Ta le 9 – Axis I/O Statu bit definition 19

Ta le 9 – Ex e tion, Fault an Alarm at ributes 2 0

Ta le 9 – Stan ard Ex e tion Ta le 2 2

Ta le 9 – Fault an Alarm L g atributes 2 7

Ta le 10 – Ex eption F ctory Limit Inf o at ributes 210

Ta le 101 – Ex eption User Limit Config ration atributes 21

Ta le 10 – Axis Ex e tion Action Config ration atribute 213

Ta le 10 – Axis Ex e tion Action definition 214

Ta le 10 – Initial zation Fault at ributes 216

Ta le 10 – Stan ard Initial zation Fault Ta le 216

Ta le 10 – Start In ibit atributes 217

Ta le 10 – Stan ard Start In ibit Ta le 217

Ta le 10 – APR Fault at ributes 218

Ta le 10 – Stan ard APR Fault Ta le 219

Interntio l Eletr ote nicl Com isio

Ta le 1 0 – Axis Statistical at ributes 219

Ta le 1 1 – Axis Inf o at ributes 2 0

Ta le 1 2 – Drive General Purp se I/O atributes 2 1

Ta le 1 3 – L cal Mode Config ration atributes 2 2

Ta le 1 4 – Axis Safety Statu atributes 2 3

Ta le 1 5 – Motion Device Axis Object – Common Services 2 4

Ta le 1 6 – Group Sy c Req est Data Stru ture 2 4

Ta le 1 7 – Group Sy c Resp n e Data Stru ture 2 5

Ta le 1 8 – Motion Device Axis Object – Object Sp cific Services 2 6

Ta le 1 9 – Ru _Motor_Test Req est stru ture 2 4

Ta le 12 – Get_Motor_Test_Data me s red by Test Typ 2 5

Ta le 121 – Get_Motor_Test_Data Req est stru ture (o tional) 2 5

Ta le 12 – Get_Motor_Test_Data Resp n e stan ard stru ture (Motor Typ =

In u tion) 2 6

Ta le 12 – Get_Motor_Test_Data Resp n e stan ard stru ture (Motor Typ = SPM) 2 6

Ta le 12 – Get_Motor_Test_Data Resp n e stan ard stru ture (Motor Typ = IPM) 2 7

Ta le 12 – Ru _Inertia Test Req est stru ture 2 7

Ta le 12 – Get_Inertia Test_Data Resp n e stru ture 2 8

Ta le 12 – Ru _Ho k p Test Req est stru ture 2 9

Ta le 12 – Get_Ho k p Test_Data me s red by Test Typ 2 0

Ta le 12 – Get_Ho k p Test_Data Resp n e stru ture 2 0

Ta le 13 – Axis State Mac ine tran ition 2 2

Ta le 131 – Axis State Mac ine con ition 2 3

Ta le 13 – Axis State Mac ine tran ition (Fe db c Only) 2 4

Ta le 13 – Axis State Mac ine tran ition (Con erter) 2 5

Ta le 13 – Axis Control Req est code 2 6

Ta le 13 – Axis Resp n e Ac nowled e codes 2 6

Ta le 13 – Completion criteria f or req ested o eration 2 7

Ta le 13 – Pos ible er or con ition for req ested o eration 2 7

Ta le 13 – Su ces f ul Axis Control Req est Cy le 2 8

Ta le 13 – Un u ces ful Axis Control Req est Cy le 2 8

Ta le 14 – Pen in Axis Control Req est Cy le 2 9

Ta le 141 – Can el Req est Cy le 2 0

Ta le 14 – Redef i e Position Referen e Cy le 2 2

Ta le 14 – Ru nin State – Config ra le atributes 2 5

Ta le 14 – Axis state ma pin to Identity Object with LED b havior 2 2

Ta le 14 – CIP Motion Device seven-segment display b havior 2 3

Ta le 14 – CIP Motion multi-c aracter alphan meric display b havior 2 4

INTERNATIONAL ELECTROTECHNICAL COMMISSION

_

Part 7-202: Generic interface and use of profiles for

power drive systems – Prof ile type 2 specification

1 Th Intern tio al Ele trote h ic l Commis io (IEC) is a worldwid org niz tio f or sta d rdiz tio c mprisin

al n tio al ele trote h ic l c mmite s (IEC Natio al Commite s) Th o je t of IEC is to promote

intern tio al c -o eratio o al q e tio s c n ernin sta d rdiz tio in th ele tric l a d ele tro ic f i ld To

this e d a d in a ditio to oth r a tivitie , IEC p bls e Intern tio al Sta d rd , Te h ic l Sp cif i atio s,

Te h ic l Re orts, Pu lcly Av ia le Sp cif i atio s (P S) a d Guid s (h re f ter ref er e to a “IEC

Pu lc tio (s)”) Th ir pre aratio is e tru te to te h ic l c mmite s; a y IEC Natio al Commite intere te

in th s bje t d alt with ma p rticip te in this pre aratory work Intern tio al g v rnme tal a d n n

-g v rnme tal org niz tio s laisin with th IEC als p rticip te in this pre aratio IEC c la orate clo ely

with th Intern tio al Org niz tio f or Sta d rdiz tio (ISO) in a c rd n e with c n itio s d termin d b

a re me t b twe n th two org niz tio s

2) Th f ormal d cisio s or a re me ts of IEC o te h ic l maters e pre s, a n arly a p s ible, a intern tio al

c n e s s of o inio o th rele a t s bje ts sin e e c te h ic l c mmite h s re re e tatio fom al

intere te IEC Natio al Commite s

3) IEC Pu lc tio s h v th f orm of re omme d tio s for intern tio al u e a d are a c pte b IEC Natio al

Commite s in th t s n e Whie al re s n ble ef forts are ma e to e s re th t th te h ic l c nte t of IEC

Pu lc tio s is a c rate, IEC c n ot b h ld re p n ible for th wa in whic th y are u e or f or a y

misinterpretatio b a y e d u er

4) In ord r to promote intern tio al u if ormity, IEC Natio al Commite s u d rta e to a ply IEC Pu lc tio s

tra s are tly to th ma imum e te t p s ible in th ir n tio al a d re io al p blc tio s An div rg n e

b twe n a y IEC Pu lc tio a d th c re p n in n tio al or re io al p blc tio s al b cle rly in ic te in

th later

5) IEC its lf d e n t pro id a y ate tatio of c nf ormity In e e d nt c rtific tio b die pro id c nformity

a s s me t s rvic s a d, in s me are s, a c s to IEC mark of c nf ormity IEC is n t re p n ible f or a y

s rvic s c rie o t b in e e d nt c rtif i atio b die

6) Al u ers s o lde s re th t th y h v th late t e itio of this p blc tio

7) No la i ty s al ata h to IEC or its dire tors, emplo e s, s rv nts or a e ts in lu in in ivid al e p rts a d

memb rs of its te h ic l c mmite s a d IEC Natio al Commite s f or a y p rs n l injury, pro erty d ma e or

oth r d ma e of a y n ture wh ts e er, wh th r dire t or in ire t, or for c sts (in lu in le al f ee ) a d

e p n e arisin o t of th p blc tio , u e of, or rela c u o , this IEC Pu lc tio or a y oth r IEC

Pu lc tio s

8) Ate tio is drawn to th Normativ refere c s cite in this p blc tio Us of th refere c d p blc tio s is

in is e s ble for th c r e t a plc tio of this p blc tio

International Stan ard IEC 618 0-7-2 2 has b en pre ared by s bcommit e SC 2 G:

Adju ta le sp ed electric drive s stems in orp ratin semicon u tor p wer con erters, of IEC

tec nical commite TC 2 : Power electronic s stems an eq ipment

This secon edition cancels an re laces the first edition publs ed in 2 0 This edition

con titutes a tec nical revision

This edition in lu es the f ol owin sig if i ant tec nical c an es with resp ct to the previou

edition:

a) update of p tent information;

b) new revision of the Drive Profi e an Drive Axis sp cification , with multiple clarification

Interntio l Eletr ote nicl Com isio

The text of this stan ard is based on the f ol owin doc ments:

Ful inf ormation on the votin f or the a proval of this stan ard can b foun in the re ort on

votin in icated in the a ove ta le

This publ cation has b en drafted in ac ordan e with the ISO/IEC Directives, Part 2

A l st of al p rts of the IEC 618 0 series, u der the general title Ad just able sp ed elect ric l

p wer driv syst ems, can b fou d on the IEC we site

The commit e has decided that the contents of this publcation wi remain u c an ed u ti

the sta i ty date in icated on the IEC we site u der "htp:/we store.iec.c " in the data

related to the sp cific publ cation At this date, the publ cation wi b

• recon rmed,

• with rawn,

• re laced by a revised edition, or

IMPORTANT – The 'colour inside' logo on the cov r pa e of this publ c tion in ic te

that it contains colours whic are consid re to be us f ul f or the cor e t

understa din of its conte ts Us rs s ould th ref ore print this doc me t using a

colour printer

The IEC 618 0 series is inten ed to provide a common set of sp cification for adju ta le

sp ed electrical p wer drive s stems

IEC 618 0-7 sp cifies profi es f or Power Drive Sy tems (PDS) an their ma pin to existin

commu ication s stems by u e of a generic interf ace model

IEC 618 0-7 des rib s a generic interf ace b twe n control s stems an p wer drive s stems

This interf ace can b emb d ed in the control s stem The control s stem itself can also b

located in the drive (sometimes k own as "smart drive" or "intel gent drive")

A variety of ph sical inter aces is avai a le (analog e an digital inputs an outputs, serial

an p ral el interf aces, fieldbu es an network ) Profies b sed on sp cif i ph sical

interaces are alre dy def i ed for some a pl cation areas (e.g motion control) an some

device clas es (e.g stan ard drives, p sitioner) The implementation of the as ociated

drivers an a pl cation programmers interaces are pro rietary an vary widely

IEC 618 0-7 defines a set of common drive control f un tion , p rameters, an state mac ines

or des ription of seq en es of o eration to b ma p d to the drive profi es

IEC 618 0-7 provides a way to ac es fu ction an data of a drive that is in e en ent of the

u ed drive profi e an commu ication interace The o jective is a common drive model with

generic fu ction an o jects s ita le to b ma p d on dif ferent commu ication interaces

This makes it p s ible to provide common implementation of motion control (or velocity

control or drive control a plcation ) in control ers without an sp cific k owled e of the drive

implementation

There are several re son to define a generic interace:

For a driv de ic ma uf acturer

– les ef fort to s p ort s stem integrators;

– les eff ort to des rib drive f un tion b cau e of common terminolog ;

– the selection of drives do s not de en on avai a i ty of sp cific s p ort

For a control de ic ma uf acturer

– no influen e of bu tec nolog ;

– e s device integration;

– in e en ent of a drive s p l er

For a s stem inte rator

– les integration ef fort f or devices;

– only one u derstan a le way of model n ;

– in e en ent of bu tec nolog

Mu h ef fort is ne ded to desig a motion control a pl cation with several diff erent drives an

a sp cif i control s stem The tas s to implement the s stem sof tware an to u derstan the

f un tional des ription of the in ivid al comp nents may ex au t the project resources In

some cases, the drives do not s are the same ph sical inter ace Some control devices ju t

s p ort a sin le inter ace whic wi not b s p orted by a sp cific drive On the other han ,

the f un tion an data stru tures are of ten sp cif ied with in omp tibi ties This req ires the

Interntio l Eletr ote nicl Com isio

s stem integrator to write sp cial inter aces for the a pl cation software an this s ould not b

his resp n ibi ty

Some a pl cation ne d device ex han e bi ty or integration of new devices in an existin

config ration They are f aced with dif ferent in omp tible solution The eff orts to ada t a

solution to a drive profi e an to man facturer sp cif i exten ion may b u ac e ta le This

wi red ce the degre of f e dom to select a device b st s ited for this a pl cation to the

selection of the u it whic wi b avai a le for a sp cific ph sical interf ace an s p orted by

the control er

IEC 618 0-7-1 is divided into a generic p rt an several an exes as s own in Fig re 1 The

drive profi es typ s for CiA® 4 2

to the generic interace in the cor esp n in an ex The an exes have b en s bmited by

o en international network or f ieldbu organization whic are resp n ible for the content of

the related an ex an u e of the related trademark

This p rt of IEC 618 0-7 sp cifies the prof ile typ 2 (CIP Motion™)

The profi e typ s 1, 3 an 4 are sp cif ied in IEC 618 0-7-2 1, IEC 618 0-7-2 3 an

IEC 6180 -7-2 4

_ _ _ _ _ _

1

CiA® 4 2 is a re istere tra e mark of C N in Automatio e.V (CiA) This inf ormatio is giv n f or th

c n e ie c of u ers of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e

mark h ld r or a y of its pro u ts Compla c to this pro le d e n t re uire u e of th re istere tra e mark

CiA® 4 2.Us of th re istere tra e mark CiA® 4 2 re uire p rmis io of C N in Automatio e.V (CiA)

2

CIP Motio ™ is a tra e mark of OD A, In This inf ormatio is giv n f or th c n e ie c of u ers of this

Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of its

pro u ts Compla c to this profie d e n t re uire u e of th tra e mark CIP Motio ™ Us of th tra e mark

CA o e ® is a re istere tra e mark of C N in Automatio e.V (CiA) This informatio is giv n for th

c n e ie c of u ers of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e

mark h ld r or a y of its pro u ts Compla c to this profie d e n t re uire u e of th re istere tra e mark

CA o e ® Us of th re istere tra e mark C No e ® re uire p rmis io of CA in Automatio e.V (CiA)

CA o e ® is a a ro ym for Co troler Are N etwork op n a d is u e to refer to EN5 3 5-4

6

CC-Lin IE® Field Network is a re istere tra e mark of Mits bis i Ele tric Corp ratio This inf ormatio is

giv n for th c n e ie c of u ers of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b

IEC of th tra e mark h ld r or a y of its pro u ts Compla c to this pro le d e n t re uire u e of th

re istere tra e mark C -Lin IE® Field Network Us of th re istere tra e mark C -Lin IE® Field Network

re uire p rmis io of Mits bis i Ele tric Corp ratio

7

EP ™ is a tra e mark of SU CON Gro p Co Ltd This informatio is giv n for th c n e ie c of u ers of this

Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of its

pro u ts Compla c to this profie d e n t re uire u e of th tra e mark EP ™ Us of th tra e mark

EP ™ re uire p rmis io of th tra e mark h ld r

8

Eth rC T® is a re istere tra e mark of Be k of f, Verl This informatio is giv n for th c n e ie c of u ers

of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of

its pro u ts Compla c to this pro le d e n t re uire u e of th re istere tra e mark Eth rCAT® Us of

th re istere tra e mark Eth rC T® re uire p rmis io of th tra e mark h ld r

9

Eth rn t Powerln ™ is a tra e mark of Bern c er & Rain r In u trie le tro ik Ge m.b.H c ntrol of tra e

mark u e is giv n to th n n profit org niz tio EPSG This informatio is giv n for th c n e ie c of u ers of

this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of

its pro u ts Compla c to this pro le d e n t re uire u e of th tra e mark Eth rn t Powerln ™ Us of th

tra e mark Eth rn t Powerln ™ re uire p rmis io of th tra e mark h ld r

10

De ic Net™ is a tra e mark of OD A, In This informatio is giv n f or th c n e ie c of u ers of this

Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of its

pro u ts Compla c to this pro le d e n t re uire u e of th tra e mark De ic Net™ Us of th tra e mark

De ic Net™ re uire p rmis io of OD A, In

1

Co trolNet™ is a tra e mark of OD A, In This informatio is giv n for th c n e ie c of u ers of this

Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of its

pro u ts Compla c to this profie d e n t re uire u e of th tra e mark Co trolNet™ Us of th tra e mark

Co trolNet™ re uire p rmis io of OD A, In

12

Eth rNetIP™ is a tra e mark of OD A, In This informatio is giv n for th c n e ie c of u ers of this

Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or a y of its

pro u ts Compla c to this pro le d e n t re uire u e of th tra e mark Eth rNetIP™ Us of th tra e

mark Eth rNetIP™ re uire p rmis io of OD A, In

13

PR FIBUS is a tra e n me of PR FIBUS & PR FINE Intern tio al This informatio is giv n f or th

c n e ie c of u ers of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e

n me h ld r or a y of its pro u ts Compla c to this pro le d e n t re uire u e of th tra e n me

PR FIBUS Us of th tra e n me PR FIBUSre uire p rmis io of PR FIBUS & PR FINE Intern tio al

14

PR FINE is a tra e n me of PR FIBUS & PR FINE Intern tio al This inf ormatio is giv n for th

c n e ie c of u ers of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e

n me h ld r or a y of its pro u ts Compla c to this pro le d e n t re uire u e of th tra e n me

PR FINE Us of th tra e n me PR FINE re uire p rmis io of PR FIBUS& PR FINE Intern tio al

Interntio l Eletr ote nicl Com isio

Figure 1 – Stru ture of IEC 618 0-7

0.2 Patent de laration

The International Electrotec nical Commis ion (IEC) draws atention to the f act that it is

claimed that compl an e with this doc ment may in olve the u e of a p tent con ernin the

f ol owin This p tent is held by its inventors u der lcen e to ODVA, In :

IEC 618 0-7-2 0 – Profi e spe ific tions

IEC 618 0-7-3 0 – Mappin of prof ile to network te hnologie

IEC 618 0-7-1 – Interfa e definition

Generic PDS interf ace sp cification

IEC 618 0-7 Ge eric interf ac a d us of prof ile f or power driv s stems

con ition with a pl cants throu hout the world In this resp ct, the statement of ODVA an

the holder of this p tent rig t is registered with IEC Information may b o tained f rom:

Atention is drawn to the p s ibi ty that some of the elements of this doc ment may b the

s bject of p tent rig ts other than those identified a ove IEC s al not b held resp n ible for

identifyin an or al s c p tent rig ts

ISO (www.iso.org/p tents) an IEC (htp:/p tents.iec.c ) maintain on-l ne data b ses of

p tents relevant to their stan ard Users are en ouraged to con ult the data b ses f or the

most up to date information con ernin p tents

Interntio l Eletr ote nicl Com isio

ADJUSTA BLE SPEED ELECTRICA L

Part 7-202: Generic interface and use of profiles for

power drive systems – Prof ile type 2 specification

This p rt of IEC 618 0 sp cifies profi e typ 2 (CIP Motion™) f or Power Drive Sy tems (PDS)

Prof ile typ 2 can b ma p d onto dif ferent commu ication network tec nologies

The f un tion sp cif ied in this p rt of IEC 618 0-7 are not inten ed to en ure f un tional

safety This req ires ad itional me s res ac ordin to the relevant stan ard , agre ments

The f ol owin doc ments, in whole or in p rt, are normatively ref eren ed in this doc ment an

are in isp n a le f or its a pl cation For dated ref eren es, only the edition cited a ples For

u dated referen es, the latest edition of the ref eren ed doc ment (in lu in an

amen ments) a pl es

IEC 6 2 4-1, Safety of ma hinery – Electric l e uipme t of ma hines – P art 1: Ge eral

IEC 61 5 -4-2:2 14, Ind ustrial c mmu ic tion n tworks – Field bus sp cific t io s – P art 4-2:

Data-link layer protoc l sp cific tio – Type 2 eleme ts

IEC 61 5 -5-2:2 14, Ind ustrial c mmu ic tion n tworks – Field bus sp cificat ions – P art 5-2:

Ap li at io la er servic definit io – Ty e 2 eleme ts

IEC 61 5 -6-2:2 14, Ind ustrial c mmu ic tion n tworks – F ield bus sp cific t io s – P art 6-2:

Ap li ation layer proto ol sp cific t io – Type 2 eleme ts

IEC 615 8:2 0 , P re isio clo k sy c ro izatio protoc l for n twork ed me sureme t a d

c ntrol systems

IEC 618 0-7-1:2 15, Adjustable sp ed electric l p wer driv syst ems – P art 7-1: Ge eric

intera e a d use of profiles for p wer driv systems – Int era e d efinit io

IEEE Std 1 2-2 0 , IEEE Sta dard Test P ro edure for P oly h se Ind uct io Motors a d

Ge erat ors

3 Terms, def initions and abbreviated terms

algorithm

completely determined finite seq en e of o eration by whic the values of the output data

can b calc lated f rom the values of the input data

[SOURCE: IEC 618 0-7-1:2 15, 3.2.1]

3.1.2

appl c tion

sof tware f un tional element sp cific to the solution of a pro lem in in u trial-proces

me s rement an control

Note 1 to e try: An a plc tio ma b distrib te amo g re o rc s, a d ma c mmu ic te with oth r

a plc tio s

[SOURCE: IEC 618 0-7-1:2 15, 3.2.2]

3.1.3

appl c tion mode

typ of a pl cation that can b req ested f rom a PDS

Note 1 to e try: Th dif fere t a plc tio mo e refle t th c ntrol lo p f or torq e c ntrol v lo ity c ntrol

p sitio c ntrol or oth r a plc tio s s c a h min

logical element in ide an automation s stem (e.g a motion control s stem) that re resents

some f orm of movement

Note 1 to e try: Ax s c n b rotary or ln ar, p y ic l or virtu l c ntrole or simply o s rv d

CIP Motio ™ a d CIP Sy c™ are tra e mark of ODV , In This informatio is giv n for th c n e ie c of

u ers of this Intern tio al Sta d rd a d d e n t c n titute a e d rs me t b IEC of th tra e mark h ld r or

a y of its pro u ts Compla c to this profie d e n t re uire u e of th tra e mark CIP Motio ™ or

CIP Sy c™ Us of th tra e mark CIP Motio ™ or CIP Sy c™ re uire p rmis io of OD A, In

Interntio l Eletr ote nicl Com isio

3.1.8

CIP Motion™ control er

CIP compl ant control er containin a Motion Control Axis Object that can interace to a CIP

Motion device via a CIP Motion I/O Con ection

Note 1 to e try: A d s riptio of th Motio Co trol Axis Obje t is b y n th s o e of IEC618 0-7

[SOURCE: IEC 618 0-7-1:2 15, 3.3.3.2]

3.1.9

CIP Motion™ de ic

CIP compl ant device containin one or more Motion Device Axis Object in tan es that can

commu icate to a CIP Motion control er via a CIP Motion I/O Con ection

EX MPLE: A CIP Motio driv is a p rtic lar c s of a CIP Motio d vic

[SOURCE: IEC 618 0-7-1:2 15, 3.3.3.3]

3.1.10

CIP Motion™ driv profi e

col ection of o jects u ed to implement a CIP Motion drive device that in lu es the Motion

Device Axis Object, as wel as stan ard s p ort o jects l ke the Identity Object an the Time

Sy c Object

Note 1 to e try: Th De ic Ty e a sig e to th CIP Motio driv pro le is 2

hex

s n hronization fu ctional ty over a CIP Network

Note 1 to e try: Se Time Sy c Obje t in IEC 61 5 -5-2 a d IEC 61 5 -6-2

[SOURCE: IEC 618 0-7-1:2 15, 3.3.3.5]

3.1.13

cla s

des ription of a set of o jects that s are the same atributes, o eration , method ,

relation hips, an semantic

[SOURCE: IEC 618 0-7-1:2 15, 3.2.5]

3.1.14

comma ds

set of comman s f rom the a pl cation control program to the PDS to control the b havior of

the PDS or fu ctional elements of the PDS

Note 1 to e try: Th b h vior is refle te b state or o eratin mo e

Note 2 to e try: Th difere t c mma d ma b re re e te b o e bit e c

device that general y con erts AC input to DC output

Note 1 to e try: A c n erter is als c mmo ly c le th Driv Power Su ply In th c nte t of adriv s stem, th

c n erter is re p n ible f or c n ertin A main in ut into D b s p wer

<f un tion bloc s> networked in e en ent ph sical entity of an in u trial automation s stem

ca a le of p rormin sp cif ied f un tion in a p rtic lar context an del mited by its interf aces

[SOURCE: IEC 618 0-7-1:2 15, 3.2.9]

3.1.2

de ic

f ield device

<s stem integration> entity that p rf orms control, actuatin and/or sen in fu ction an

interaces to other s c entities within an automation s stem

[SOURCE: IEC 618 0-7-1:2 15, 3.2.10]

Interntio l Eletr ote nicl Com isio

de ic profi e

re resentation of a device in terms of its p rameters, p rameter as embl es an b haviour

ac ordin to a device model that des rib s the data an b haviour of the device as viewed

throu h a network, in e en ent f rom an network tec nology

medium priority re l-time data bloc that is tran f er ed by a CIP Motion Con ection only af ter

a sp cified event oc urs

Note 1 to e try: Re istratio a d mark r in ut tra sitio s are ty ic l driv e e ts

3.1.2

f unctional eleme t

entity of software or software combined with hardware, ca a le of ac ompl s in a sp cified

f un tion of a device

Note 1 to e try: A f un tio al eleme t h s a interf ac , a s ciatio s to oth r f un tio al eleme ts a d f un tio s

Note 2 to e try: A f un tio al eleme t c n b ma e o t of f un tio blo k(s), o je t(s) or p rameter lst(s)

s ared b u dary b twe n two entities def i ed by fu ctional c aracteristic , sig al

c aracteristic , or other c aracteristic as a pro riate

[SOURCE: IEC 618 0-7-1:2 15, 3.2.15]

3.1.2

inv rter

device that general y con erts DC input to AC output

Note 1 to e try: An in erter is als c mmo ly c le th Driv Amplfier In th c nte t of a driv s stem, th

in erter is re p n ible f or c ntrol n th a plc tio of D b s p wer to a A motor

3.1.3

motion

an asp ct of the d namic of an axis

Note 1 to e try: In th c nte t of this p rt of IEC 618 0-7, it is n t lmite to s rv driv s b t e c mp s e al

f orms of driv b s d motor c ntrol

[SOURCE: IEC 618 0-7-1:2 15, 3.3.3.8]

3.1.3

Motion Control Axis Obje t

o ject that def i es the at ributes, services, and b havior of a controler b sed axis ac ordin

to the CIP Motion sp cification

3.1.3

Motion De ic Axis Obje t

o ject that def i es the at ributes, services, an b havior of a motion device b sed axis

ac ordin to the CIP Motion sp cification

Note 1 to e try: This o je t in lu e Commu ic tio s, De ic c ntrol a d Ba ic driv F eleme ts a d fin d in

IEC 618 0-7

[SOURCE: IEC 618 0-7-1:2 15, 3.3.3.9]

3.1.3

method of control where there is no a pl cation of f eedb c to f orce the actual motor

d namic to matc the comman ed d namic

EX MPLE Ex mple of o e lo p c ntrol are ste p r driv s a d v ria le f re u n y driv s

3.1.3

operating mode

c aracterization of the way an the extent to whic the h man o erator intervenes in the

control eq ipment

data element that re resents device inf ormation that can b re d fom or writ en to a device,

f or example throu h the network or a local HMI

Note 1 to e try: A p rameter is ty ic ly c ara teriz d b a p rameter n me, d ta ty e a d a c s dire tio

[SOURCE: IEC 618 0-7-1:2 15, 3.2.2 ]

3.1.3

profi e

re resentation of a PDS interf ace in terms of its p rameters, p rameter as embl es an

b havior ac ordin to a commu ication prof ile an a device profi e

Interntio l Eletr ote nicl Com isio

[SOURCE: IEC 618 0-7-1:2 15, 3.2.21, modif ied – Note 1 to entry is deleted]

3.1.3

re d

get

o eration that in olves the retrievin of an atribute value f om the p rsp ctive of the

control er side of the interace

Note 1 to e try: Servic d ta in lu e s rvic re u st me s g s to a c s Motio De ic Axis Obje t atrib te

or p rormv rio s driv dia n stic

3.1.4

s t point

value or varia le u ed as output data of the a plcation control program to control the PDS

Note 1 to e try: Th v lu s nt to th driv is u e to dire tly c ntrol s me a p ct of th motor d n mic , whic

in lu e (b t is n t lmite to) p sitio , v lo ity, a c leratio , a d torq e

[SOURCE: IEC 618 0-7-1:2 15, 3.3.1.5, modified – Note 1 to entry is ad ed]

3.1.4

s u t re ulator

sp cific bu reg lator method that switc es the DC bu acros a p wer dis ip tin resistor to

dis ip te the regenerative p wer of a deceleratin motor

con ition where the local cloc value on the drive is loc ed onto the master cloc of the

distributed Sy tem Time

Note 1 to e try: Wh n s n hro iz d, th driv a d c ntroler d vic s ma uti s time stamp a s ciate with CIP

Motio Co n ctio d ta

[SOURCE: IEC 618 0-7-1:2 15, 3.3.3.1 ]

Note 1 to e try: In th c nte t of CIP Motio , Sy tem Time is a 6 -bit inte er v lu in u its of n n s c n s with a

Note 1 to e try: Th Sy tem Time off set is a 6 -bit off set v lu th t is a d d to a d vic ’s lo al clo k to g n rate

Sy tem Time for th t d vic

3.1.4

time stamp

Sy tem Time stamp value as ociated with the CIP Motion Con ection data that con ey the

a solute time when the as ociated data was ca tured, or that can also b u ed to determine

when the as ociated data s al b a pl ed

Note 1 to e try: CIP time stamp are alwa s in th c nte t of a distrib te time s stem wh re al n d s o th

CIP c ntrol n twork h v clo k th t are s n hro iz d with a ma ter clo k s urc u in CIP Sy c

software entity that may take dif ferent values, one at a time

Note 1 to e try: Th v lu s of a v ria le a wel a of a p rameter are u u ly re tricte to a c rtain d ta ty e

[SOURCE: IEC 618 0-7-1:2 15, 3.2.2 ]

3.1.5

v riable fre ue c driv

VFD

clas of drive prod cts that se k to control the sp ed of a motor, typical y an in u tion motor,

throu h a pro ortional relation hip b twe n drive output voltage an comman ed output

f req en y

Note 1 to e try: Varia le fe u n y driv s are th ref ore s metime ref ere to a aVolts/Hertz driv s

Note 2 to e try: Th En ls a bre iatio VFD is als u e in Fre c

3.1.5

v ctor driv

clas of drive produ ts that se k to control the d namic of a motor via closed lo p control

whic in lu es, but is not l mited to, closed lo p control of b th torq e an flu vector

comp nents of motor stator c r ent relative to the rotor flu vector

Interntio l Eletr ote nicl Com isio

write

set

o eration that in olves the setin of an atribute to a sp cified value fom the p rsp ctive of

the control er side of the interf ace

Common In u trial Protocol

(se IEC 61 5 Typ 2, IEC 617 4-1 an IEC 617 4-2 Commu ication Prof ile

TCP Tran mis ion Control Protocol (se IETF RFC 7 3)

VFD varia le feq en y drive

CIP Motion devices control, monitor or s p ort the motion of one or more movin comp nent

of a mac ine Mac ine motion is typical y generated by rotary or l ne r motion actuators, i.e

motors, an monitored by f eedb c devices Eac motor is typical y driven by a p wer

stru ture an a motion control algorithm that comprise a CIP Motion Drive Device Typ

Drive fu ctional ty s p orted by the CIP Motion drive device profi e can b a pl ed to a variety

of motor tec nologies, an can ran e f rom very simple “o en lo p” varia le f req en y drives

to so histicated “closed lo p” vector controled servo drives In either case, motion is

control ed via a comman referen e that can b con g red f or p sition control, velocity

control, ac eleration control, or c r ent torq e control The CIP Motion drive device profie

also s p orts p sition, velocity an ac eleration monitorin throu h multiple fe db c , as

Al the atributes, services, an state b havior of a CIP Motion device are en a s lated in one

or more Motion Device Axis Object in tan es In addition to motion control an f eedb c

monitorin f un tional ty, the Motion Device Axis Object in lu es s p ort f or event monitorin ,

s c p sition ca ture on a Registration event, an DC Bu management as ociated with a

Power Con erter A CIP Motion device can manif est an combination of these fu ction to

cre te variou clas es of CIP Motion complant devices ran in f rom ful fe tured servo

drives, to CIP Motion En oders, to stan alone Power Con erters, dif ferentiated by the CIP

Motion Device Typ

This CIP Motion drive prof ile sp cification an the as ociated Motion Device Axis Object

sp cification define the interf ace, the sp cific atributes, an comman b haviors req ired to

s p ort motion control when con ected to a CIP Motion compl ant controler throu h a CIP

network

Of the a pl ca le CIP Network , EtherNet IP™ is the network of c oice f or hig p rf orman e,

s n hronized multi-axis control Other CIP network s c as ControlNet™ an DeviceNet™

could b a pl ed to lower p rf orman e non-s n hronized motion device a plcation s c as

simple varia le feq en y drives, velocity lo p drives, an in exin drives

4.2 Control mode

The Motion Device Axis Object covers the b havior of variou motion control s stem devices

that in lu es fe db c devices, drive devices, stan alone con erters an motion I/O devices

For drive devices, the Motion Device Axis Object covers a wide ran e of drive types f rom

simple varia le f req en y (V/Hz) drives, to so histicated p sition control servo drives, with or

without integral con erters In e d, man commercial drive prod cts can b con g red to

o erate in an one of these diff erent motion control modes de en in on the sp cific

a pl cation req irements The at ributes of the Motion Device Axis Object are theref ore

organized to ad res s this bro d ran e of f un tional ty an the famework for this

organization is des rib d in 4.2

IEC 618 0-7-1 an this p rt of the IEC 618 0-7 series are organised arou d the general

phi oso h that p sition control is the hig est f orm of d namic control That is, p sition control

impl es velocity control, an velocity control imples ac eleration control Ac eleration is

related to torq e or force by the inertia or mas of the lo d, resp ctively, ac eleration control

impl es torq e control An f i al y, sin e motor torq e or force is general y related to motor

c r ent by a torq e or force con tant, resp ctively, torq e control imples c r ent control The

torq e or f orce con tant can b a f un tion of the motor mag ets as in a Permanent Mag et

motor, or the in u ed flu of an In u tion motor

Sin e ac eleration, torq e/f orce, an c r ent are general y related by a con tant, these terms

are sometimes u ed interc an e bly in the in u try For example IEC 618 0-7-1 ref ers to a

torq e control lo p rather than a c r ent control lo p This sp cif i ation atempts to

dif ferentiate betwe n these control pro erties where a pl ca le This is p rtic larly u eful

when the relation hip b twe n them is not static, s c as when inertia/mas c an es with

p sition or time, or when the torq e/force con tant c an es d e to temp rature c an e or

motor flu variation

4.2.2 Control methods

Within this b sic control p radigm, there is latitu e f or dif ferent control method , b th closed

lo p an o en lo p By closed lo p, it is general y impl ed that there is a f eedb c sig al that

is u ed to drive the actual d namic of the motor to matc the comman ed d namic by servo

action In most cases, there is a l teral f eedb c device to provide this sig al, an in some

cases, the sig al is derived f rom the motor ex itation (i.e sen orles /en oderles o eration)

By o en lo p, it is impl ed that there is no a plcation of fe db c to f orce the actual d namic

to matc the comman ed d namic Whie precision an p rf orman e are the hal mark of

closed lo p control, simpl city an economy are the hal mark of o en lo p control

Interntio l Eletr ote nicl Com isio

4.2.3 Control nome clature

Final y, as evident in the des ription a ove, lne r an rotary control a plcation can aff ect

the control nomen lature Whie rotary a pl cation sp ak of torq e an inertia, l ne r

a pl cation sp ak of force an mas For the purp ses of this p rt of the IEC 618 0-7 series,

when refer in to rotary nomen lature, the defined b havior can general y b a pl ed to l ne r

a pl cation by s bstitutin the terms, f orce f or torq e an mas for inertia With that

u derstan in , Fig re 2 to Fig re 8 fol ow the IEC 618 0-7-1 nomen lature u in torq e

rather than force without los of general ty

4.2.4 Position control

In p sition control a pl cation mode, either the a plcation control program (comman

exec tion f un tion) or the motion plan er (move trajectory control f un tion) provide a set-p int

value to the CIP Motion device via the c cl c data con ection The p sition control method

can b either o en lo p or closed lo p

4.2.4.2 Ope loop position control

A device config red f or o en lo p p sition control a pl es to a clas of drive devices cal ed

ste p r drives This typ of drive is i u trated in Fig re 2

Figure 2 – Ope loop p sition control

A fe db c device f or this config ration is o tional In the a sen e of a fe db c device,

actual p sition can b estimated by the drive an returned to the control er

4.2.4.3 Clos d loo position control

A motor control device config red f or closed lo p p sition control is traditional y refer ed to as

Ap l cation program

Fig re 3 – Clos d loo position control

A fe db c device f or this config ration is general y req ired to ac ieve go d p sitionin

ac urac The f eedb c device may also b u ed to return Actual Velocity, an Actual

Ac eleration data to the control er via the c clc data con ection

In ad ition to Comman Position, the control er can p s Comman Velocity an Comman

Ac eleration f or the purp ses of f orward control

4.2.5 Velocity control

In velocity control a pl cation mode, the a plcation control program an motion plan er

provide a set-p int value to the CIP Motion device via the c cl c data con ection The velocity

control method can b either o en lo p or closed lo p

4.2.5.2 Ope loop v locity control

A motor control device config red for o en lo p velocity control is traditional y refer ed to as

varia le f req en y, or V/Hz, or VFD, drive This typ of drive is i u trated in Fig re 4

A fe db c device for this config ration is o tional In the a sen e of a fe db c device,

actual velocity can b estimated by the drive an returned to the control er

Ap l cation program

Motion plan er

Position control

Velocity control

Torq e/c r ent control

Figure 4 – Ope loo v locity control

4.2.5.3 Clos d loop v locity control

A motor control device config red for closed lo p velocity control is traditional y ref er ed to as

velocity lo p drive or velocity servo drive A closed lo p velocity control drive impl es an in er

torq e/c r ent control lo p (se Fig re 5) an therefore is sometimes refer ed to as a vector

Velocity control

Torq e/c r ent control

In ad ition to Comman Velocity, the control er can also p s Comman Ac eleration for the

purp ses of f orward control

4.2.6 Ac eleration control

Whi e neither a main tre m control mode in the in u try, nor mentioned in IEC 618 0-7-1, the

ac eleration control mode is in lu ed here to complete the d namic progres ion f om velocity

control to torq e control an b cau e the Motion Device Axis Object can s p ort an

Ac eleration Comman , p tential y derived f rom the control er’s motion plan er In the

ac eleration control mode, the a pl cation control program an motion plan er provide

ac eleration set-p int values to the CIP Motion device via the c cl c data con ection The

drive con erts the ac eleration set-p int into a torq e comman u in the estimated s stem

inertia Ac eleration control work in con ert with the in er torq e/c r ent control lo p as

s own in Fig re 6

Figure 6 – Ac eleration control

A f eedb c device for the ac eleration control config ration is man atory an may b u ed to

return actual p sition, velocity, an ac eleration data to the control er via the c clc data

con ection

In torq e control a pl cation mode, the a plcation control program or the motion plan er

provide torq e set-p int values to the device via the c cl c data con ection (se Fig re 7)

Becau e motor c r ent an motor torq e are general y related by a torq e con tant, Kt, torq e

control is often s non mou with c r ent control

Ap l cation program

Motion plan er

Ac eleration control

Torq e/c r ent control

Figure 7 – Torqu control

A p sition fe db c device f or this control mode is o tional If a f eedb c device is present, it

may b u ed to return actual p sition, velocity, an ac eleration data to the control er via the

c cl c data con ection

4.2.8 No Control

The Motion Device Axis Object s p orts a “No Control” a pl cation mode where there is no

d namic motor control f un tion This mode is of ten u ed to s p ort “fe db c only” or “master

f eedb c ” f un tional ty where a p rtic lar f eedb c c an el in a CIP Motion drive device is

servin as a master f eedb c source to the rest of the control s stem This could also a ply

to integrated CIP Motion En oder device typ s where the CIP Motion interf ace is a pled

directly to an En oder

In this “No Control” mode of o eration, no set-p int value is s p l ed to the CIP Motion device

via the c cl c data con ection, but actual p sition, velocity, an ac eleration can b s p led

by the device to the control er via the Cy l c Data Chan el, if a pl ca le The No Control

mode for Fe db c Only fu ctional ty is i u trated in Fig re 8

Ap lc tio pro ram

No Control mode also a pl es to other CIP Motion device typ s, s c as stan alone Bu

Power Con erters an dedicated motion I/O device typ s Sin e there is no fe db c c an el

as ociated with these device typ s, no actual p sition is returned to the controler

5.1 Data type ov rview

Ta le 1 s ows ref eren es of data typ s u ed in this profi e an the related definition

Table 1 – Data type

their exact data typ is not defined) or 0x n, 0x n n (if their data typ is sp cified)

6 CIP Motion drive profi e

6.1 Obje t mod l

6.1.1 Obje t ov rview

The o ject model in Fig re 9 re resents a CIP Motion device

Interntio l Eletr ote nicl Com isio

Figure 9 – Obje t Model f or a CIP Motion de ic

Ta le 2 in icates:

• the o ject clas es present in this device,

• whether or not the clas is req ired,

• the n mb r of in tan es present in e c clas

Table 2 – Obje ts pre e t in a CIP Motion de ic

Object in tan e govern the b havior of the as ociated axis In this device profi e, the term

“axis” is s non mou with a “Motion Device Axis Object in tan e” The implemented content

of the Motion Device Axis Object in tan es is dictated by the sp cif i CIP Motion Device Typ

ac ordin to Ta le 3

Table 3 – Motion De ic Axis Obje t conte t by De ic Type

CIP Motio Driv Su p rt for o eor more of F, P, V, T De ic Fu ctio Co e

CIP Motio En o er Su p rt for E, b t n s p ort for F, P, V, T De ic Fu ctio Co e

CIP Motio Co v rter Su p rt for B De ic Fu ctio Co e o ly

CIP Motio I/O Su p rt for I/O De ic Fu ctio Co eo ly

A sin le bi-directional I/O con ection to the Motion Device Axis Object clas in tan e

provides a c cl c data p th b twe n the controler an e c in ivid al Motion Device Axis

Object in tan e This con ection p s es on a sp cial data stru ture whose self definin

f ormat can b u ed to tran fer c cl c, event, an service related data

An o tional Time Sy c Object is in lu ed in the o ject model to faci tate ac urate time

s n hronization b twe n CIP Motion controlers an drive devices for hig p rf orman e

motion control For lower p rf orman e drives s c as V/Hz (VFD) drives, or simple velocity

servo drives, the Time Sy c Object is not neces ary for drive o eration

A CIP Motion I/O Con ection is a stan ard, c clc, bidirectional CIP I/O con ection whose

p c ets can vary in size, b sed on the formats outl ned in 6.4.2.2

6.2 How obje ts af e t be a ior

The o jects f or this device aff ect the device’s b havior as s own in Ta le 4

Table 4 – Obje t ef fe t on be a ior

6.3 Defining obje t interf ac s

Objects s p orted f or the CIP Motion device have the interf aces lsted in Ta le 5

Interntio l Eletr ote nicl Com isio

The CIP Motion device profi e s p orts a Tran p rt Clas 1 p int-to-p int bi-directional I/O

con ection b twe n the control er an the Motion Device Axis Object clas : this I/O

con ection is sp cifical y refer ed to as the CIP Motion I/O Con ection

The Motion Device Axis Object distributes the data in this con ection to e c in tantiated

Motion Device Axis Object in tan e

6.4.2 CIP Motion I/O Conn ction

The fol owin s bclau e sp cif ies the CIP Motion I/O Con ection f ormat that in lu es the

Control er to-Device (C-to-D) Con ection an the Device-to-Control er (D-to-C) Con ection f or

bi-directional data tran f er b twe n a CIP Motion control er an a CIP Motion device, as

The size an contents of the Time Data Bloc an In tan e Data Bloc s vary dy amical y as

determined by the as ociated he ders This a i ty to vary the contents of the data bloc s

f rom update to update al ows the device an control er to only sen data that has c an ed

f rom the last update, dramatical y red cin the overal size of the typical CIP Motion

Con ection p c et

Eac In tan e Data Bloc within the CIP Motion I/O Con ection p c et con ists of thre sets

of data bloc s as ociated with the c clc, event, an service data c an els From the device’s

p rsp ctive, these thre distin t data c an els have dif ferent data proces in priorities as

i u trated in Fig re 1

Figure 1 – CIP Motion I/O Conne tion c a nels

The sp cific f un tional ty of these thre data c an els is as fol ows

• Cy l c Data Chan el: car ies Cy lc Data Bloc s that are sampled or calc lated every

Control er Update Period an s n hronized with other nodes in the motion control s stem

throu h u e of distributed Sy tem Time Cy lc data is hig priority data that s al b

immediately proces ed an a pled to the device axis within one Device Update Period

• Event Data Chan el: car ies event data as ociated with device event s) (e.g registration,

homin , etc.) that have oc ur ed within the last Control er Update Period Event data is

medium priority an s al b proces ed an a pl ed within one Control er Update Period

• Service Data Chan el: car ies data as ociated with service req ests to re d or write

at ribute values of the Motion Device Axis Object as p rt of on-l ne config ration an

diag ostic f un tional ty, as wel as service req ests to aff ect Motion Device Axis Object

b havior as p rt of control er in tru tion exec tion Service data has lowest priority an is

typical y buf fered an proces ed as a b c grou d tas There is no g arante that a

service req est wi b proces ed within Control er Update Period

Taken together, these thre data c an els provide a comprehen ive control er to device data

con ection solution f or in u trial motion control

6.4.2.3 I/O conne tion formats

An overview of the CIP Motion I/O Con ection f ormat is s own in Fig re 12 an Fig re 13

Not s own in these f ormat fig res is the en a s lation as ociated with the Clas 1 Tran p rt

that in lu es a Seq en e Cou t For a detai ed des ription of the Clas 1 Tran p rt he der

refer to IEC 61 5 -5-2 an IEC 61 5 -6-2 Multi-octet data in the CIP I/O Con ection data

stru ture fol ows stan ard l tle-en ian octet-ad res in rule In the fig res, octet orderin

re d lef t to rig t The gray b n ers in the f i ures are section la els an are not p rt of the

actual con ection data stru ture Unles otherwise stated, data stru ture elements defined as

“reserved” or marked with a h phen, “-“, s al b set to zero (0)

 3 -bit Word (o tet 1 | o tet 2 | o tet 3 | o tet 4) 

Co troler-o-Devic Co ne tio f ormat

Co n ctio He d r

Time Data Blo k

In ta c Data Blo k

Co ne tio He der an Time Data Block

Cyclc Data Block

Servic Data Block

Servic Sp cific Re u st Data

 3 -bit Word (o tet 1 | o tet 2 | o tet 3 | o tet 4) 

Devic -o-Co troler Co ne tio f ormat

Co n ctio He d r

Time Data Blo k

In ta c Data Blo k

Co ne tio He der an Time Data Block

Cyclc Re d Data Block

Cy lc Write Blk ID Cy lc Write Statu Cy lc Re d Blk ID Cy lc Re d Statu

Servic Data Block

Servic Sp cif i Re p n e Data

IE C

Figure 13 – De ic - o-Control er Con e tion format (Con e tion Point 2)

Interntio l Eletr ote nicl Com isio