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IEC 61800-7-201

Edition 1.0 2007-11

INTERNATIONAL
STANDARD

Adjustable speed electrical power drive systems –

Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
IEC 61800-7-201:2007(E)

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Copyright International Electrotechnical Commission

Provided by IHS under license with IEC Licensee=BP International/5928366101
No reproduction or networking permitted without license from IHS Not for Resale, 07/09/2008 15:53:28 MDT
THIS PUBLICATION IS COPYRIGHT PROTECTED
Copyright © 2007 IEC, Geneva, Switzerland

All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
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About the IEC

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Copyright International Electrotechnical Commission

INTERNATIONAL
STANDARD

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION PRICE CODE
XG
ICS 29.200; 35.100.05 ISBN 2-8318-9375-5

Copyright International Electrotechnical Commission

CONTENTS
FOREWORD......................................................................................................................... 14
INTRODUCTION................................................................................................................... 16

1 Scope ............................................................................................................................. 19
2 Normative references ..................................................................................................... 19
3 Terms, definitions and abbreviated terms ....................................................................... 19
3.1 Terms and definitions ............................................................................................ 19
3.2 Abbreviated terms ................................................................................................. 23
4 General .......................................................................................................................... 24
4.1 General considerations.......................................................................................... 24
4.2 Communication interface ....................................................................................... 24
4.3 Object dictionary ................................................................................................... 25
5 Data types ...................................................................................................................... 25
5.1 Standard data types .............................................................................................. 25
5.2 Record definitions ................................................................................................. 26
6 General object definitions ............................................................................................... 27
6.1 General ................................................................................................................. 27
6.2 Communication parameter objects......................................................................... 27
6.3 Additional identification and information objects .................................................... 28
6.3.1 Object 6402 h : Motor type .......................................................................... 28
6.3.2 Object 6403 h : Motor catalogue number ..................................................... 29
6.3.3 Object 6404 h : Motor manufacturer............................................................. 29
6.3.4 Object 6405 h : http motor catalogue address .............................................. 30
6.3.5 Object 6406 h : Motor calibration date ......................................................... 30
6.3.6 Object 6407 h : Motor service period ........................................................... 31
6.3.7 Object 6503 h : Drive catalogue number ...................................................... 31
6.3.8 Object 6505 h : http drive catalogue address ............................................... 32
7 Error codes and error behaviour ..................................................................................... 32
7.1 Error codes ........................................................................................................... 32
7.2 Error behavior ....................................................................................................... 36
8 Controlling the power drive system ................................................................................. 37
8.1 General ................................................................................................................. 37
8.2 Finite state automaton ........................................................................................... 37
8.3 Modes of operation................................................................................................ 40
8.4 Detailed object specifications ................................................................................ 41
8.4.1 Object 6040 h : Controlword ........................................................................ 41
8.4.2 Object 6041 h : Statusword.......................................................................... 42
8.4.3 Object 603F h : Error code .......................................................................... 43
8.4.4 Object 6007 h : Abort connection option code .............................................. 44
8.4.5 Object 605A h : Quick stop option code ....................................................... 45
8.4.6 Object 605B h : Shutdown option code ........................................................ 46
8.4.7 Object 605C h : Disable operation option code ............................................ 46
8.4.8 Object 605D h : Halt option code ................................................................. 47
8.4.9 Object 605E h : Fault reaction option code .................................................. 48
8.4.10 Object 6060 h : Modes of operation ............................................................. 49
8.4.11 Object 6061 h : Modes of operation display ................................................. 50
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Copyright International Electrotechnical Commission

8.4.12 Object 6502 h : Supported drive modes ....................................................... 50

9 Factor group ................................................................................................................... 51
9.1
General ................................................................................................................. 51
9.2
Detailed object definitions ..................................................................................... 51
9.2.1 Object 608F h : Position encoder resolution................................................. 51
9.2.2 Object 6090 h : Velocity encoder resolution ................................................. 52
9.2.3 Object 6091 h : Gear ratio ........................................................................... 53
9.2.4 Object 6092 h : Feed constant ..................................................................... 54

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9.2.5 Object 607E h : Polarity ............................................................................... 55
10 Profile position mode ...................................................................................................... 56
10.1 General information ............................................................................................... 56
10.2 Functional description ........................................................................................... 57
10.2.1 General ..................................................................................................... 57
10.2.2 Single set-point ......................................................................................... 58
10.2.3 Set of set-points ........................................................................................ 59
10.3 General definitions ................................................................................................ 60
10.4 Use of controlword and statusword ........................................................................ 60
10.5 Detailed object definitions ..................................................................................... 61
10.5.1 Object 607A h : Target position ................................................................. 61
10.5.2 Object 607B h : Position range limit........................................................... 62
10.5.3 Object 607D h : Software position limit ...................................................... 62
10.5.4 Object 607F h : Max profile velocity........................................................... 64
10.5.5 Object 6080 h : Max motor speed .............................................................. 64
10.5.6 Object 6081 h : Profile velocity .................................................................. 65
10.5.7 Object 6082 h : End velocity ...................................................................... 65
10.5.8 Object 6083 h : Profile acceleration ........................................................... 66
10.5.9 Object 6084 h : Profile deceleration........................................................... 66
10.5.10 Object 6085 h : Quick stop deceleration .................................................... 67
10.5.11 Object 6086 h : Motion profile type ............................................................ 67
10.5.12 Object 60A3 h : Profile jerk use ................................................................. 68
10.5.13 Object 60A4 h : Profile jerk........................................................................ 69
10.5.14 Object 60C5 h : Max acceleration .............................................................. 70
10.5.15 Object 60C6 h : Max deceleration.............................................................. 71
11 Homing mode ................................................................................................................. 72
11.1 General information ............................................................................................... 72
11.2 Functional description ........................................................................................... 72
11.3 General definitions ................................................................................................ 73
11.3.1 Method 1: Homing on negative limit switch and index pulse..................... 73
11.3.2 Method 2: Homing on positive limit switch and index pulse ...................... 73
11.3.3 Method 3 and 4: Homing on positive home switch and index pulse .......... 73
11.3.4 Method 5 and 6: Homing on negative home switch and index pulse ......... 74
11.3.5 Method 7 to 14: Homing on home switch and index pulse ........................ 74
11.3.6 Method 15 and 16: Reserved................................................................... 75
11.3.7 Method 17 to 30: Homing without index pulse.......................................... 75
11.3.8 Method 31 and 32: Reserved................................................................... 76
11.3.9 Method 33 and 34: Homing on index pulse .............................................. 76
11.3.10 Method 35: Homing on index pulse.......................................................... 76
11.3.11 Method 36: Homing with touch-probe ...................................................... 76
11.4 Use of controlword and statusword ........................................................................ 76
Copyright International Electrotechnical Commission
Provided by IHS under license with IEC Licensee=BP International/5928366101
No reproduction or networking permitted without license from IHS Not for Resale, 07/09/2008 15:53:28 MDT
–4– 61800-7-201 © IEC:2007(E)

11.5 Detailed object definitions ..................................................................................... 77

11.5.1 Object 607C h : Home offset ..................................................................... 77
11.5.2 Object 6098 h : Homing method ................................................................ 78
11.5.3 Object 6099 h : Homing speeds ................................................................. 79
11.5.4 Object 609A h : Homing acceleration......................................................... 80
11.5.5 Object 60B8 h : Touch probe function........................................................ 80
11.5.6 Object 60B9 h : Touch probe status........................................................... 82
11.5.7 Object 60BA h : Touch probe pos1 pos value ............................................ 82
11.5.8 Object 60BB h : Touch probe pos1 neg value ............................................ 83
11.5.9 Object 60BC h : Touch probe pos2 pos value ............................................ 83
11.5.10 Object 60BD h : Touch probe pos2 neg value ............................................ 84
12 Position control function ................................................................................................. 84
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12.1 General information ............................................................................................... 84

12.2 Functional description ........................................................................................... 85
12.3 Detailed object definitions ..................................................................................... 87
12.3.1 Object 6062 h : Position demand value ..................................................... 87
12.3.2 Object 6063 h : Position actual internal value ............................................ 87
12.3.3 Object 6064 h : Position actual value......................................................... 88
12.3.4 Object 6065 h : Following error window ..................................................... 88
12.3.5 Object 6066 h : Following error time out .................................................... 89
12.3.6 Object 6067 h : Position window................................................................ 90
12.3.7 Object 6068 h : Position window time ........................................................ 90
12.3.8 Object 60F4 h : Following error actual value.............................................. 91
12.3.9 Object 60FA h : Control effort .................................................................... 91
12.3.10 Object 60FC h : Position demand internal value ........................................ 92
12.3.11 Object 60F2 h : Positioning option code .................................................... 92
13 Interpolated position mode ............................................................................................. 94
13.1 General information ............................................................................................... 94
13.2 Functional description ........................................................................................... 95
13.2.1 General ..................................................................................................... 95
13.2.2 Linear interpolated position mode with several axes .................................. 96
13.2.3 Buffer strategies for the interpolated position mode ................................... 97
13.2.4 Interpolated position mode FSA ................................................................. 98
13.3 General definitions ................................................................................................ 99
13.4 Use of controlword and statusword ........................................................................ 99
13.5 Detailed object definitions ................................................................................... 100
13.5.1 Object 60C0 h : Interpolation sub mode select ........................................... 100
13.5.2 Object 60C1 h : Interpolation data record .................................................. 101
13.5.3 Object 60C2 h : Interpolation time period ................................................... 102
13.5.4 Object 60C4 h : Interpolation data configuration ........................................ 103
14 Profile velocity mode .................................................................................................... 105
14.1 General information ............................................................................................. 105
14.2 Functional description ......................................................................................... 106
14.3 General definitions .............................................................................................. 107
14.4 Use of controlword and statusword ...................................................................... 107
14.5 Detailed object definitions ................................................................................... 108
14.5.1 Object 6069 h : Velocity sensor actual value ........................................... 108
14.5.2 Object 606A h : Sensor selection code .................................................... 108
14.5.3 Object 606B h : Velocity demand value ................................................... 109
Copyright International Electrotechnical Commission
Provided by IHS under license with IEC Licensee=BP International/5928366101
No reproduction or networking permitted without license from IHS Not for Resale, 07/09/2008 15:53:28 MDT
61800-7-201 © IEC:2007(E) –5–

14.5.4 Object 606C h : Velocity actual value ...................................................... 110

14.5.5 Object 606D h : Velocity window ............................................................. 110
14.5.6 Object 606E h : Velocity window time ...................................................... 111
14.5.7 Object 606F h : Velocity threshold ........................................................... 111
14.5.8 Object 6070 h : Velocity threshold time ................................................... 112
14.5.9 Object 60FF h : Target velocity ............................................................... 112
14.5.10 Object 60F8 h : Max slippage .................................................................. 113
15 Profile torque mode ...................................................................................................... 113
15.1General information ............................................................................................. 113
15.2Functional description ......................................................................................... 113
15.3General definitions .............................................................................................. 114
15.4Use of controlword and statusword ...................................................................... 114
15.5Detailed object definitions ................................................................................... 115
15.5.1 Object 6071 h : Target torque .................................................................. 115
15.5.2 Object 6072 h : Max torque ..................................................................... 116
15.5.3 Object 6073 h : Max current .................................................................... 116
15.5.4 Object 6074 h : Torque demand .............................................................. 117
15.5.5 Object 6075 h : Motor rated current ......................................................... 117
15.5.6 Object 6076 h : Motor rated torque .......................................................... 118
15.5.7 Object 6077 h : Torque actual value ........................................................ 118
15.5.8 Object 6078 h : Current actual value ....................................................... 119
15.5.9 Object 6079 h : DC link circuit voltage ..................................................... 119
15.5.10 Object 6087 h : Torque slope .................................................................. 120
15.5.11 Object 6088 h : Torque profile type ......................................................... 120
16 Velocity mode............................................................................................................... 121
16.1 General information ............................................................................................. 121
16.2 Functional description ......................................................................................... 122
16.2.1 Velocity limit function............................................................................... 122
16.2.2 Ramp function ......................................................................................... 122
16.2.3 Velocity control function .......................................................................... 122
16.2.4 Factor function ........................................................................................ 122
16.3 General definitions .............................................................................................. 123
16.4 Use of controlword and statusword ...................................................................... 123
16.5 Detailed object definitions ................................................................................... 124
16.5.1 Object 6042 h : vl target velocity................................................................ 124
16.5.2 Object 6043 h : vl velocity demand ............................................................ 125
16.5.3 Object 6044 h : vl velocity actual value ...................................................... 125
16.5.4 Object 6046 h : vl velocity min max amount ............................................... 126
16.5.5 Object 6049 h : vl velocity deceleration...................................................... 127
16.5.6 Object 6048 h : vl velocity acceleration ...................................................... 128
16.5.7 Object 604A h : vl velocity quick stop ........................................................ 130
16.5.8 Object 604B h : vl set-point factor .............................................................. 131
16.5.9 Object 604C h : vl dimension factor ........................................................... 132
17 Cyclic synchronous position mode ................................................................................ 133
17.1 General information ............................................................................................. 133
17.2 Functional description ......................................................................................... 134
17.3 Use of controlword and statusword ...................................................................... 135
17.4 Detailed object definitions ................................................................................... 136
17.4.1 Object 60B0 h : Position offset .................................................................. 136
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Copyright International Electrotechnical Commission

17.4.2 Object 60B1 h : Velocity offset................................................................... 136

17.4.3 Object 60B2 h : Torque offset .................................................................... 137
18 Cyclic synchronous velocity mode ................................................................................ 137
18.1 General information ............................................................................................. 137
18.2 General definitions .............................................................................................. 138
18.3 Functional description ......................................................................................... 138
18.4 Use of controlword and statusword ...................................................................... 139
19 Cyclic synchronous torque mode .................................................................................. 140
19.1 General information ............................................................................................. 140
19.2 General definitions .............................................................................................. 140
19.3 Functional description ......................................................................................... 140
19.4 Use of controlword and statusword ...................................................................... 141
20 Optional application FE ................................................................................................ 141
20.1 General ............................................................................................................... 141
20.2 Object 60FD h : Digital inputs ................................................................................ 141

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20.3 Object 60FE h : Digital outputs .............................................................................. 142

Bibliography........................................................................................................................ 144

Figure 1 – Structure of IEC 61800-7...................................................................................... 18

Figure 2 – Value definition .................................................................................................... 27
Figure 3 – Remote and local control...................................................................................... 37
Figure 4 – Power drive system finite state automaton ........................................................... 38
Figure 5 – Relation between different value parameters........................................................ 41
Figure 6 – Value definition .................................................................................................... 41
Figure 7 – Value definition .................................................................................................... 42
Figure 8 – Value definition .................................................................................................... 50
Figure 9 – Value definition .................................................................................................... 56
Figure 10 – Trajectory generator and position control function .............................................. 56
Figure 11 – Trajectory generator for profile position mode .................................................... 57
Figure 12 – Set-point example .............................................................................................. 58
Figure 13 – Handshaking procedure for the single set-point method ..................................... 58
Figure 14 – Handshaking procedure for the set of set-points method .................................... 59
Figure 15 – Set-point handling for two set-points .................................................................. 59
Figure 16 – Controlword for profile position (pp) mode .......................................................... 60
Figure 17 – Statusword for profile position (pp) mode ........................................................... 61
Figure 18 – Velocity/time diagram with jerk positions ............................................................ 69
Figure 19 – Homing mode function ....................................................................................... 72
Figure 20 – Homing on negative limit switch and index pulse ................................................ 73
Figure 21 – Homing on positive limit switch and index pulse ................................................. 73
Figure 22 – Homing on positive home switch and index pulse ............................................... 74
Figure 23 – Homing on negative home switch and index pulse .............................................. 74
Figure 24 – Homing on home switch and index pulse – positive initial motion ....................... 75
Figure 25 – Homing on home switch and index pulse – negative initial motion ..................... 75
Figure 26 – Homing on positive home switch ........................................................................ 76

Copyright International Electrotechnical Commission

Figure 27 – Homing on index pulse ....................................................................................... 76

Figure 28 – Controlword for homing mode ............................................................................ 76
Figure 29 – Statusword for homing mode .............................................................................. 77
Figure 30 – Home offset definition ........................................................................................ 77
Figure 31 – Position control function ..................................................................................... 85
Figure 32 – Following error (functional overview) .................................................................. 85
Figure 33 – Position reached (functional overview) ............................................................... 86
Figure 34 – Position reached (definitions) ............................................................................. 86
Figure 35 – Following error (definitions) ................................................................................ 87
Figure 36 – Object structure ................................................................................................. 92
Figure 37 – Interpolation controller ....................................................................................... 95
Figure 38 – Interpolated position mode for two axes ............................................................. 96
Figure 39 – Linear interpolation for one axis ......................................................................... 97
Figure 40 – Input buffer organisation .................................................................................... 98
Figure 41 – Input buffer examples......................................................................................... 98
Figure 42 – Interpolated position mode FSA ......................................................................... 99
Figure 43 – Controlword for interpolated position mode ........................................................ 99
Figure 44 – Statusword for interpolated position mode ........................................................ 100
Figure 45 – Profile velocity mode ........................................................................................ 107
Figure 46 – Controlword for profile velocity mode ............................................................... 107
Figure 47 – Statusword for profile velocity mode ................................................................. 108
Figure 48 – Structure of the profile torque mode ................................................................. 114
Figure 49 – Controlword for profile torque mode ................................................................. 114
Figure 50 – Statusword for profile torque mode................................................................... 115

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Figure 51 – Velocity mode with all objects .......................................................................... 121
Figure 52 – Velocity mode with mandatory objects only ...................................................... 121
Figure 53 – Velocity profile ................................................................................................. 122
Figure 54 – Factor function ................................................................................................. 122
Figure 55 – Reverse factor function .................................................................................... 123
Figure 56 – Controlword for profile velocity mode ............................................................... 123
Figure 57 – Usage of controlword bits in velocity mode ....................................................... 124
Figure 58 – Statusword for profile velocity mode ................................................................. 124
Figure 59 – Transfer characteristic of vl velocity min max amount ....................................... 126
Figure 60 – Transfer characteristic of the velocity deceleration ........................................... 127
Figure 61 – Transfer characteristic of the velocity acceleration ........................................... 129
Figure 62 – Transfer characteristic of the quick stop deceleration ....................................... 130
Figure 63 – Cyclic synchronous position mode overview ..................................................... 134
Figure 64 – Cyclic synchronous position control function .................................................... 135
Figure 65 – Statusword for profile cyclic synchronous position mode .................................. 135
Figure 66 – Cyclic synchronous velocity mode overview ..................................................... 138
Figure 67 – Cyclic synchronous velocity control function ..................................................... 139
Figure 68 – Statusword for profile cyclic synchronous velocity mode................................... 139
Figure 69 – Cyclic synchronous torque mode overview ....................................................... 140

Copyright International Electrotechnical Commission

Figure 70 – Cyclic synchronous torque control function....................................................... 141

Figure 71 – Statusword for profile cyclic synchronous torque mode .................................... 141
Figure 72 – Object structure ............................................................................................... 142
Figure 73 – Object structure ............................................................................................... 142

Table 1 – List of used data types .......................................................................................... 26

Table 2 – Interpolated time period ........................................................................................ 26
Table 3 – Interpolated data configuration .............................................................................. 26
Table 4 – vl velocity acceleration/deceleration ...................................................................... 26
Table 5 – Object description ................................................................................................. 27
Table 6 – Entry description ................................................................................................... 28
Table 7 – Value definition ..................................................................................................... 28
Table 8 – Object description ................................................................................................. 29
Table 9 – Entry description ................................................................................................... 29
Table 10 – Object description ............................................................................................... 29
Table 11 – Entry description ................................................................................................. 29
Table 12 – Object description ............................................................................................... 30
Table 13 – Entry description ................................................................................................. 30
Table 14 – Object description ............................................................................................... 30
Table 15 – Entry description ................................................................................................. 30
Table 16 – Object description ............................................................................................... 31
Table 17 – Entry description ................................................................................................. 31
Table 18 – Object description ............................................................................................... 31
Table 19 – Entry description ................................................................................................. 31
Table 20 – Object description ............................................................................................... 32
Table 21 – Entry description ................................................................................................. 32
Table 22 – Object description ............................................................................................... 32
Table 23 – Entry description ................................................................................................. 32
Table 24 – Error codes ......................................................................................................... 33
Table 25 – FSA states and supported functions .................................................................... 38
Table 26 – Transition events and actions .............................................................................. 39
Table 27 – Command coding ................................................................................................ 41
Table 28 – Object description ............................................................................................... 42
Table 29 – Entry description ................................................................................................. 42
Table 30 – State coding ........................................................................................................ 42
Table 31 – Object description ............................................................................................... 43
Table 32 – Entry description ................................................................................................. 43
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Table 33 – Object description ............................................................................................... 44

Table 34 – Entry description ................................................................................................. 44
Table 35 – Value definition ................................................................................................... 44
Table 36 – Object description ............................................................................................... 44
Table 37 – Entry description ................................................................................................. 45
Table 38 – Value definition ................................................................................................... 45

Copyright International Electrotechnical Commission

Table 39 – Object description ............................................................................................... 45

Table 40 – Entry description ................................................................................................. 46
Table 41 – Value definition ................................................................................................... 46
Table 42 – Object description ............................................................................................... 46
Table 43 – Entry description ................................................................................................. 46
Table 44 – Value definition ................................................................................................... 47
Table 45 – Object description ............................................................................................... 47
Table 46 – Entry description ................................................................................................. 47
Table 47 – Value definition ................................................................................................... 47
Table 48 – Object description ............................................................................................... 48
Table 49 – Entry description ................................................................................................. 48
Table 50 – Value definition ................................................................................................... 48
Table 51 – Object description ............................................................................................... 48
Table 52 – Entry description ................................................................................................. 49
Table 53 – Value definition ................................................................................................... 49
Table 54 – Object description ............................................................................................... 49
Table 55 – Entry description ................................................................................................. 50
Table 56 – Object description ............................................................................................... 50
Table 57 – Entry description ................................................................................................. 50
Table 58 – Object description ............................................................................................... 51
Table 59 – Entry description ................................................................................................. 51
Table 60 – Object description ............................................................................................... 52
Table 61 – Entry description ................................................................................................. 52
Table 62 – Object description ............................................................................................... 53
Table 63 – Entry description ................................................................................................. 53
Table 64 – Object description ............................................................................................... 54
Table 65 – Entry description ................................................................................................. 54
Table 66 – Object description ............................................................................................... 55
Table 67 – Entry description ................................................................................................. 55
Table 68 – Object description ............................................................................................... 56
Table 69 – Entry description ................................................................................................. 56
Table 70 – Definition of bit 4, bit 5, and bit 9 ......................................................................... 60
Table 71 – Definition of bit 6 and bit 8................................................................................... 60
Table 72 – Definition of bit 10, bit 12, and bit 13 ................................................................... 61
Table 73 – Object description ............................................................................................... 61
Table 74 – Entry description ................................................................................................. 61
Table 75 – Object description ............................................................................................... 62
Table 76 – Entry description ................................................................................................. 62
Table 77 – Object description ............................................................................................... 63
Table 78 – Entry description ................................................................................................. 63
Table 79 – Object description ............................................................................................... 64
Table 80 – Entry description ................................................................................................. 64
Table 81 – Object description ............................................................................................... 64

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 82 – Entry description ................................................................................................. 65

Table 83 – Object description ............................................................................................... 65
Table 84 – Entry description ................................................................................................. 65
Table 85 – Object description ............................................................................................... 66
Table 86 – Entry description ................................................................................................. 66
Table 87 – Object description ............................................................................................... 66
Table 88 – Entry description ................................................................................................. 66
Table 89 – Object description ............................................................................................... 67
Table 90 – Entry description ................................................................................................. 67
Table 91 – Object description ............................................................................................... 67
Table 92 – Entry description ................................................................................................. 67
Table 93 – Value definition ................................................................................................... 68
Table 94 – Object description ............................................................................................... 68
Table 95 – Entry description ................................................................................................. 68
Table 96 – Object description ............................................................................................... 68
Table 97 – Entry description ................................................................................................. 69
Table 98 – Value assignments .............................................................................................. 69
Table 99 – Object description ............................................................................................... 69
Table 100 – Entry description ............................................................................................... 70
Table 101 – Object description ............................................................................................. 71
Table 102 – Entry description ............................................................................................... 71
Table 103 – Object description ............................................................................................. 71
Table 104 – Entry description ............................................................................................... 71
Table 105 – Definition of bit 4 and bit 8................................................................................. 77
Table 106 – Definition of bit 10, bit 12, and bit 13 ................................................................. 77
Table 107 – Object description ............................................................................................. 78
Table 108 – Entry description ............................................................................................... 78
Table 109 – Value definition ................................................................................................. 78
Table 110 – Object description ............................................................................................. 78
Table 111 – Entry description ............................................................................................... 79
Table 112 – Object description ............................................................................................. 79
Table 113 – Entry description ............................................................................................... 79
Table 114 – Object description ............................................................................................. 80
Table 115 – Entry description ............................................................................................... 80
Table 116 – Value definition ................................................................................................. 81
Table 117 – Object description ............................................................................................. 81
Table 118 – Entry description ............................................................................................... 81
Table 119 – Value definition ................................................................................................. 82
Table 120 – Object description ............................................................................................. 82
Table 121 – Entry description ............................................................................................... 82
Table 122 – Object description ............................................................................................. 83
Table 123 – Entry description ............................................................................................... 83
Table 124 – Object description ............................................................................................. 83
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Copyright International Electrotechnical Commission

Table 125 – Entry description ............................................................................................... 83

Table 126 – Object description ............................................................................................. 84
Table 127 – Entry description ............................................................................................... 84
Table 128 – Object description ............................................................................................. 84
Table 129 – Entry description ............................................................................................... 84
Table 130 – Object description ............................................................................................. 87
Table 131 – Entry description ............................................................................................... 87
Table 132 – Object description ............................................................................................. 88
Table 133 – Entry description ............................................................................................... 88
Table 134 – Object description ............................................................................................. 88
Table 135 – Entry description ............................................................................................... 88
Table 136 – Object description ............................................................................................. 89
Table 137 – Entry description ............................................................................................... 89
Table 138 – Object description ............................................................................................. 89
Table 139 – Entry description ............................................................................................... 89
Table 140 – Object description ............................................................................................. 90
Table 141 – Entry description ............................................................................................... 90
Table 142 – Object description ............................................................................................. 90
Table 143 – Entry description ............................................................................................... 91
Table 144 – Object description ............................................................................................. 91
Table 145 – Entry description ............................................................................................... 91
Table 146 – Object description ............................................................................................. 91
Table 147 – Entry description ............................................................................................... 92
Table 148 – Object description ............................................................................................. 92
Table 149 – Entry description ............................................................................................... 92
Table 150 – Value definition for bit 0 and bit 1 ...................................................................... 93
Table 151 – Value definition for bit 2 and bit 3 ...................................................................... 93
Table 152 – Value definition for bit 4 and bit 5 ...................................................................... 93
Table 153 – Object description ............................................................................................. 94
Table 154 – Entry description ............................................................................................... 94
Table 155 – Position calculation in interpolated position mode for several axes .................... 96
Table 156 – FSA states and supported functions .................................................................. 99
Table 157 – Transition events and actions ............................................................................ 99
Table 158 – Definition of bit 4 and bit 8............................................................................... 100
Table 159 – Definition of bit 10 and bit 12 ........................................................................... 100
Table 160 – Value definition ............................................................................................... 100
Table 161 – Object description ........................................................................................... 101
Table 162 – Entry description ............................................................................................. 101
Table 163 – Object description ........................................................................................... 101
Table 164 – Entry description ............................................................................................. 102
Table 165 – Object description ........................................................................................... 103
Table 166 – Entry description ............................................................................................. 103
Table 167 – Object description ........................................................................................... 104
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Copyright International Electrotechnical Commission

Table 168 – Entry description ............................................................................................. 104

Table 169 – Definition of bit 8 ............................................................................................. 107
Table 170 – Definition of bit 10, bit 12, and bit 13 ............................................................... 108
Table 171 – Object description ........................................................................................... 108
Table 172 – Entry description ............................................................................................. 108
Table 173 – Value definition ............................................................................................... 109
Table 174 – Object description ........................................................................................... 109
Table 175 – Entry description ............................................................................................. 109
Table 176 – Object description ........................................................................................... 109
Table 177 – Entry description ............................................................................................. 110
Table 178 – Object description ........................................................................................... 110
Table 179 – Entry description ............................................................................................. 110
Table 180 – Object description ........................................................................................... 110
Table 181 – Entry description ............................................................................................. 111
Table 182 – Object description ........................................................................................... 111
Table 183 – Entry description ............................................................................................. 111
Table 184 – Object description ........................................................................................... 111
Table 185 – Entry description ............................................................................................. 112
Table 186 – Object description ........................................................................................... 112
Table 187 – Entry description ............................................................................................. 112
Table 188 – Object description ........................................................................................... 112
Table 189 – Entry description ............................................................................................. 113
Table 190 – Object description ........................................................................................... 113
Table 191 – Entry description ............................................................................................. 113
Table 192 – Definition of bit 8 ............................................................................................. 115
Table 193 – Definition of bit 10 ........................................................................................... 115
Table 194 – Object description ........................................................................................... 115
Table 195 – Entry description ............................................................................................. 115
Table 196 – Object description ........................................................................................... 116
Table 197 – Entry description ............................................................................................. 116
Table 198 – Object description ........................................................................................... 116
Table 199 – Entry description ............................................................................................. 116
Table 200 – Object description ........................................................................................... 117
Table 201 – Entry description ............................................................................................. 117
Table 202 – Object description ........................................................................................... 117
Table 203 – Entry description ............................................................................................. 117
Table 204 – Object description ........................................................................................... 118
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Table 205 – Entry description ............................................................................................. 118

Table 206 – Object description ........................................................................................... 118
Table 207 – Entry description ............................................................................................. 118
Table 208 – Object description ........................................................................................... 119
Table 209 – Entry description ............................................................................................. 119
Table 210 – Object description ........................................................................................... 119

Copyright International Electrotechnical Commission

Table 211 – Entry description ............................................................................................. 119

Table 212 – Object description ........................................................................................... 120
Table 213 – Entry description ............................................................................................. 120
Table 214 – Value definition ............................................................................................... 120
Table 215 – Object description ........................................................................................... 120
Table 216 – Entry description ............................................................................................. 121
Table 217 – Definition of bit 4, bit 5, bit 6, and bit 8 ............................................................ 123
Table 218 – Object description ........................................................................................... 124
Table 219 – Entry description ............................................................................................. 124
Table 220 – Object description ........................................................................................... 125
Table 221 – Entry description ............................................................................................. 125
Table 222 – Object description ........................................................................................... 125
Table 223 – Entry description ............................................................................................. 126
Table 224 – Object description ........................................................................................... 126
Table 225 – Entry description ............................................................................................. 127
Table 226 – Object description ........................................................................................... 128
Table 227 – Entry description ............................................................................................. 128
Table 228 – Object description ........................................................................................... 129
Table 229 – Entry description ............................................................................................. 129
Table 230 – Object description ........................................................................................... 130
Table 231 – Entry description ............................................................................................. 131
Table 232 – Object description ........................................................................................... 131
Table 233 – Entry description ............................................................................................. 132
Table 234 – Object description ........................................................................................... 133
Table 235 – Entry description ............................................................................................. 133
Table 236 – Definition of bit 10, bit 12, and bit 13 ............................................................... 135
Table 237 – Object description ........................................................................................... 136
Table 238 – Entry description ............................................................................................. 136
Table 239 – Object description ........................................................................................... 136
Table 240 – Entry description ............................................................................................. 137
Table 241 – Object description ........................................................................................... 137
Table 242 – Entry description ............................................................................................. 137
Table 243 – Definition of bit 10, bit 12, and bit 13 ............................................................... 139
Table 244 – Definition of bit 10, bit 12, and bit 13 ............................................................... 141
Table 245 – Value definition ............................................................................................... 142
Table 246 – Object description ........................................................................................... 142
Table 247 – Entry description ............................................................................................. 142
Table 248 – Value definition ............................................................................................... 143
Table 249 – Object description ........................................................................................... 143
Table 250 – Entry description ............................................................................................. 143

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Copyright International Electrotechnical Commission

INTERNATIONAL ELECTROTECHNICAL COMMISSION

____________

ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-201: Generic interface and use

of profiles for power drive systems –
Profile type 1 specification

FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
all national electrotechnical committees (IEC National Committees). The object of IEC is to promote
international co-operation on all questions concerning standardization in the electrical and electronic fields. To
this end and in addition to other activities, IEC publishes International Standards, Technical Specifications,
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with the International Organization for Standardization (ISO) in accordance with conditions determined by
agreement between the two organizations.
2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
consensus of opinion on the relevant subjects since each technical committee has representation from all
interested IEC National Committees.
3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC
Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any
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4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications
transparently to the maximum extent possible in their national and regional publications. Any divergence
between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in
the latter.
5) IEC provides no marking procedure to indicate its approval and cannot be rendered responsible for any
equipment declared to be in conformity with an IEC Publication.
6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
members of its technical committees and IEC National Committees for any personal injury, property damage or
other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and
expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC
Publications.
8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of
patent rights. IEC shall not be held responsible for identifying any or all such patent rights.

The International Standard IEC 61800-7-201 has been prepared by subcommittee SC 22G:
Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC
technical committee TC 22: Power electronic systems and equipment.

The text of this standard is based on the following documents:

FDIS Report on voting

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22G/184/FDIS 22G/192/RVD

Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.

This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.

Copyright International Electrotechnical Commission

A list of all parts of the IEC 61800 series, under the general title Adjustable speed electrical
power drive systems, can be found on the IEC website.

The committee has decided that the contents of this publication will remain unchanged until
the maintenance result date indicated on the IEC web site under "http://webstore.iec.ch" in
the data related to the specific publication. At this date, the publication will be

• reconfirmed;
• withdrawn;
• replaced by a revised edition, or
• amended.

A bilingual version of this publication may be issued at a later date.

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Copyright International Electrotechnical Commission

INTRODUCTION

The IEC 61800 series is intended to provide a common set of specifications for adjustable
speed electrical power drive systems.

IEC 61800-7 describes a generic interface between control systems and power drive systems.
This interface can be embedded in the control system. The control system itself can also be
located in the drive (sometimes known as "smart drive" or "intelligent drive").

A variety of physical interfaces is available (analogue and digital inputs and outputs, serial
and parallel interfaces, fieldbuses and networks). Profiles based on specific physical
interfaces are already defined for some application areas (e.g. motion control) and some
device classes (e.g. standard drives, positioner). The implementations of the associated
drivers and application programmers interfaces are proprietary and vary widely.

IEC 61800-7 defines a set of common drive control functions, parameters, and state machines
or description of sequences of operation to be mapped to the profiles.

IEC 61800-7 provides a way to access functions and data of a drive that is independent of the
used drive profile and communication interface. The objective is a common drive model with
generic functions and objects suitable to be mapped on different communication interfaces.
This makes it possible to provide common implementations of motion control (or velocity
control or drive control applications) in controllers without any specific knowledge of the drive
implementation.

There are several reasons to define a generic interface:

For a drive device manufacturer

– Less effort to support system integrators
– Less effort to describe drive functions because of common terminology
– The selection of drives does not depend on availability of specific support
For a control device manufacturer
– No influence of bus technology
– Easy device integration
– Independent of a drive supplier
For a system integrator (builds modules, machines, plants etc.)
– Less integration effort for devices
– Only one understandable way of modeling
– Independent of bus technology

Much effort is needed to design a motion control application with several different drives and
a specific control system. The tasks to implement the system software and to understand the
functional description of the individual components may exhaust the project resources. In
some cases, the drives do not share the same physical interface. Some control devices just
support a single interface which will not be supported by a specific drive. On the other hand,
the functions and data structures are specified with incompatibilities. It is up to the systems
integrator to write interfaces to the application software to handle that which should not be his
responsibility.
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Some applications need device exchangeability or integration of new devices in an existing

configuration. They are faced with different incompatible solutions. The efforts to adopt a
solution to a drive profile and to manufacturer specific extensions may be unacceptable. This
will reduce the degree of freedom to select a device best suited for this application to the
selection of the unit which will be available for a specific physical interface and supported by
the controller.

Copyright International Electrotechnical Commission

IEC 61800-7-1 is divided into a generic part and several annexes as shown in Figure 1. The
drive profile types for CiA 402 1, CIP Motion TM 2, PROFIdrive 3 and SERCOS Interface TM 4 are
mapped to the generic interface in the corresponding annex. The annexes have been
submitted by open international network or fieldbus organizations which are responsible for
the content of the related annex and use of the related trademarks.

This part of IEC 61800-7 specifies the profile type 1 (CiA 402).

The profile types 2, 3 and 4 are specified in IEC 61800-7-202, IEC 61800-7-203 and
IEC 61800-7-204.

IEC 61800-7-301, IEC 61800-7-302, IEC 61800-7-303 and IEC 61800-7-304 specify how the
profile types 1, 2, 3 and 4 are mapped to different network technologies (such as CANopen 5,
EtherCAT TM 6, Ethernet Powerlink TM 7, DeviceNet TM 8, ControlNet TM 9, EtherNet/IP TM 10,
PROFIBUS 11, PROFINET 12 and SERCOS Interface).
___________
1 CiA 402 is a trade name of CAN in Automation, e.V. This information is given for the convenience of users of
this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of
its products. Compliance to this profile does not require use of the trade name CiA 402.
2 CIP Motion™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name CIP
Motion™. Use of the trade name CIP Motion™ requires permission of Open DeviceNet Vendor Association, Inc.
3 PROFIdrive is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any

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of its products. Compliance to this profile does not require use of the trade name PROFIdrive. Use of the trade
name PROFIdrive requires permission of PROFIBUS International.
4 SERCOS™ and SERCOS Interface™ are trade names of SERCOS International e.V. This information is given
for the convenience of users of this International Standard and does not constitute an endorsement by IEC of
the trade name holder or any of its products. Compliance to this profile does not require use of the trade name
SERCOS and SERCOS interface. Use of the trade name SERCOS and SERCOS interface requires permission
of the trade name holder.
5 CANopen is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
6 EtherCAT™ is a trade name of Beckhoff, Verl. This information is given for the convenience of users of this
International Standard and does not constitute an endorsement by IEC of the trademark holder or any of its
products. Compliance to this profile does not require use of the trade name EtherCAT™. Use of the trade name
EtherCAT™ requires permission of the trade name holder.
7 Ethernet Powerlink™ is a trade name of B&R, control of trade name use is given to the non profit organisation
EPSG. This information is given for the convenience of users of this International Standard and does not
constitute an endorsement by IEC of the trademark holder or any of its products. Compliance to this profile
does not require use of the trade name Ethernet Powerlink™. Use of the trade name Ethernet Powerlink™
requires permission of the trade name holder.
8 DeviceNet™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name
DeviceNet™. Use of the trade name DeviceNet™ requires permission of Open DeviceNet Vendor Association,
Inc.
9 ControlNet™ is a trade name of ControlNet International, Ltd. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trademark holder or
any of its products. Compliance to this profile does not require use of the trade name ControlNet™. Use of the
trade name ControlNet™ requires permission of ControlNet International, Ltd.
10 EtherNet/IP™ is a trade name of ControlNet International, Ltd. and Open DeviceNet Vendor Association, Inc.
This information is given for the convenience of users of this International Standard and does not constitute an
endorsement by IEC of the trademark holder or any of its products. Compliance to this profile does not require
use of the trade name EtherNet/IP™. Use of the trade name EtherNet/IP™ requires permission of either
ControlNet International, Ltd. or Open DeviceNet Vendor Association, Inc.
11 PROFIBUS is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFIBUS. Use of the trade
name PROFIBUS requires permission of PROFIBUS International.
12 PROFINET is a trade name of PROFIBUS International. This information is given for the convenience of users
of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any
of its products. Compliance to this profile does not require use of the trade name PROFINET. Use of the trade
name PROFINET requires permission of PROFIBUS International.

Copyright International Electrotechnical Commission

IEC 61800 series IEC 62390

Adjustable speed electrical power drive Device profile guideline

IEC 61800-7 Generic interface and use of profiles for power drive systems

IEC 61800-7-1 – Interface definition

Generic PDS interface specification

Annex A Annex B Annex C Annex D

Mapping of Mapping of Mapping of Mapping of
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)

IEC 61800-7-200 – Profile specifications

IEC 61800-7-201 IEC 61800-7-202 IEC 61800-7-203 IEC 61800-7-204

Profile type 1 Profile type 2 Profile type 3 Profile type 4

(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)

IEC 61800-7-300 – Mapping of profiles to network technologies

IEC 61800-7-301 IEC 61800-7-302 IEC 61800-7-303 IEC 61800-7-304

Mapping of profile Mapping of profile Mapping of profile Mapping of profile

type 1 to: type 2 to: type 3 to: type 4 to:
• CANopen • DeviceNet • PROFIBUS • SERCOS I + II
• EtherCAT • ControlNet • PROFINET • SERCOS III
• ETHERNET • EtherNet/IP • EtherCAT
Powerlink

Figure 1 – Structure of IEC 61800-7

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Copyright International Electrotechnical Commission

ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-201: Generic interface and use

of profiles for power drive systems –
Profile type 1 specification

1 Scope

IEC 61800-7 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 of IEC 61800-7 are not intended to ensure functional
safety. This requires additional measures according to the relevant standards, agreements
and laws.

This part of IEC 61800-7 specifies profile type 1 for Power Drive Systems (PDS). Profile type
1 can be mapped onto different communication network technologies.

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 61800-7 (all parts), Adjustable speed electrical power drive systems – Generic interface
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and use of profiles for power drive systems

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

EN 50325-4, Industrial communications subsystem based on ISO 11898 (CAN) for controller-
device interfaces – Part 4: CANopen

3 Terms, definitions and abbreviated terms

3.1 Terms and definitions

For the purposes of this document, the following terms and definitions apply.

3.1.1
actual value
value of a variable at a given instant

[IEV 351-21-02]

NOTE Actual value or actual variable are used in this part of the IEC 61800-7 series as input data of the
application control program to monitor feedback variables or other process variables of the PDS.

3.1.2
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

Copyright International Electrotechnical Commission

[IEV 351-21-37)

3.1.3
application
software functional element specific to the solution of a problem in industrial-process
measurement and control

NOTE An application may be distributed among resources, and may communicate with other applications.

[IEC/TR 62390:2005, 3.1.2, modified]

3.1.4
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 like homing.

3.1.5
attribute
property or characteristic of an entity
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[IEC/TR 62390:2005, 3.1.3]

3.1.6
class
description of a set of objects that share the same attributes, operations, methods,
relationships, and semantics

[ISO/IEC 19501, modified]

3.1.7
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.

3.1.8
control
purposeful action on or in a process to meet specified objectives

[IEV 351-21-29]

3.1.9
control device
physical unit that contains – in a module/subassembly or device – an application program to
control the PDS

3.1.10
data type
set of values together with a set of permitted operations

[ISO/IEC 2382-15:1999, 15.04.01, modified]

3.1.11
device
field device

Copyright International Electrotechnical Commission

networked independent physical entity of an industrial automation system capable of

performing specified functions in a particular context and delimited by its interfaces

[IEC 61499-1:2005, 3.30, modified]

entity that performs control, actuating and/or sensing functions and interfaces to other such
entities within an automation system

[ISO 15745-1:2003, 3.11]

3.1.12
device profile
representation of a device in terms of its parameters, parameter assemblies and behaviour
according to a device model that describes the device’s data and behaviour as viewed
through a network

NOTE This is a definition from IEC/TS 61915 which is extended by the addition of the device functional structure.

[IEC/TR 62390:2005, 3.19, modified]

3.1.13
feedback variable
variable which represents a controlled variable and which is returned to a comparing element

[IEV 351-27-03]

3.1.14
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.
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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]

3.1.15
high-level power
main electric power supply of the drive device

3.1.16
input data
data transferred from an external source into a device, resource or functional element

[IEC/TR 62390:2005, 3.1.14]

3.1.17
interface
shared boundary between two entities defined by functional characteristics, signal
characteristics, or other characteristics as appropriate

[IEV 351-21-35, modified]

3.1.18
logical power drive system
model which includes PDS and communication network accessible through the generic PDS
interface

Copyright International Electrotechnical Commission

3.1.19
low-level power
electrical power supply for the control section of the drive device

3.1.20
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]

3.1.21
operating mode
characterisation of the way and the extent to which the human operator intervenes in the
control equipment

[IEV 351-31-01]

3.1.22
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]

3.1.23
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 characterised by a parameter name, data type and access direction.

[IEC/TR 62390:2005, 3.1.22, modified]

3.1.24
profile
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representation of a PDS interface in terms of its parameters, parameter assemblies and

behaviour according to a communication profile and a device profile

3.1.25
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]

3.1.26
set-point
value or variable used as output data of the application control program to control the PDS

3.1.27
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.

Copyright International Electrotechnical Commission

3.1.28
type
hardware or software element which specifies the common attributes shared by all instances
of the type

[IEC/TR 62390:2005, 3.1.25]

3.1.29
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]

3.1.30
variable
software entity that may take different values, one at a time

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[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.

3.2 Abbreviated terms

AC Alternating Current

BL Brush-Less

c Constant

CiA CAN in Automation

COB Communication Object

csp Cyclic Synchronous Profile mode

cst Cyclic Synchronous Torque mode

csv Cyclic Synchronous Velocity mode

DC Direct Current

DIV Divisor

FC Frequency Converter

FE Functional Element

FIFO First In, First Out

FSA Finite State Automaton

hm Homing Mode

HMI Human Machine Interface

I/O Input/Output

ip Interpolated Position mode

MUL Multiplication

NMT Network Management

PDS Power Drive System

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No reproduction or networking permitted without license from IHS Not for Resale, 07/09/2008 15:53:28 MDT
– 24 – 61800-7-201 © IEC:2007(E)

PM Permanent Magnet

pp Profile Position mode

pv Profile Velocity mode

r Reserved

r.m.s. Root Mean Square

ro Read-Only

rw Read-Write

tq Torque Mode

vl Velocity Mode

4 General

4.1 General considerations

This part of the IEC 61800-7 series specifies the bus-independent CiA 402 device profile for
power drive systems such as frequency converters, servo controllers, or stepper motor
controllers. It includes the definition of real-time control objects as well as of configuration,
adjustment, identification and network management objects. The PDS finite state automaton
(FSA) is also defined, which may be controlled externally by a control device communicating
via a communication system to the drive device.

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The device profile defines several modes of operation. They include profile position mode,
homing mode, interpolated position mode, profile velocity mode, profile torque mode, velocity
mode, cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic
synchronous torque mode.

4.2 Communication interface

The communication system connects the drive device to the control device and other field
devices. Via the communication system the control device uses communication services to
exchange with the drive device:

• Non real-time data (configuration, identification, adjustement, diagnostic, etc.)

• Process data like target values and actual values

These services are defined in the IEC 61800-7-301. The process data are exchanged by real-
time data messages. These messages may be configured by means of configuration services
provided by the communication system.

The communication system shall provide services to transmit and receive communication
objects (COB). The following COBs shall be supported:

• COB for real-time data transmission

• COB for emergency information transmission
• COB for network management purposes

Additionally, the communication system may provide the following COBs:

• COB for configuration data transmission

• COB for synchronisation purposes
• COB for system time distribution

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The COBs are defined in detail in IEC 61800-7-301.

4.3 Object dictionary

All objects in this part of the IEC 61800-7 series are grouped in the object dictionary, and
defined by attributes as defined in EN 50325-4. All objects shall be accessible via the network
in an ordered pre-defined fashion by means of COB for configuration data transmission. Each
object within the dictionary shall be addressed uniquely by using a 16-bit index and an 8-bit
sub-index. The communication-related objects are defined in detail in IEC 61800-7-301.

The standardised device profile area at indices 6000 h through 9FFF h shall contain all
application objects common to this device profile specification. The following object indices
shall be reserved for compatibility reasons: 6045 h , 6047 h , 604D h , 604E h , 604F h , 6052 h ,
6053 h , 6054 h , 6055 h , 6056 h , 6057 h , 6058 h , 6059 h , 6089 h , 608A h , 608B h , 608C h , 608D h ,
608E h , 6093 h , 6094 h , 6095 h , 6096 h , 6097 h , 60A0 h , 60A1 h , 60A2 h , 60F6 h , 60F7 h , 60F9 h ,
60FB h , 6410 h , 6504 h , and 6510 h .

The objects may be read respectively written via the network. Within this range of objects, up
to 8 axes may be realised. Additionally, it is possible to implement other device profiles (e. g.
generic I/O module or encoder) within the drive device. These other device profiles may be
implemented instead of one or several axes.

For multi axes devices, the object range 6000 h to 67FF h shall be shifted as follows:

• 6000 h to 67FF h : axis 0

• 6800 h to 6FFF h : axis 1
• 7000 h to 77FF h : axis 2
• 7800 h to 7FFF h : axis 3
• 8000 h to 87FF h : axis 4
• 8800 h to 8FFF h : axis 5
• 9000 h to 97FF h : axis 6
• 9800 h to 9FFF h : axis 7

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The category and entry category attributes of an object indicate if the object shall be
implemented (mandatory) or may be implemented (optional).

The object code and data type attributes are defined in detail in EN 50325-4 or in other
network technology specifications. The used data type attributes are given in Clause 5. In the
entry description, the access attribute indicating if an application object is read only (ro),
read/write (rw) or write only (wo) or constant (c) is defined. Read only indicates that this shall
not be written via the bus; read/write allows to read and to write this object; and write only
means that this application object shall be not read via the bus.

The PDO mapping attribute shall indicate if this object shall be or may be or shall not be
mapped into COB for real-time data transmission. The detailed definition of these attributes is
given in IEC 61800-7-301.

The default value attribute defines the value of an object with access attribute of the value ‘rw’
and ‘c’ after power-on or application reset.

5 Data types

5.1 Standard data types

The data types used in this profile are listed in Table 1.

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Table 1 – List of used data types

Data type Reference

Unsigned8 EN 50325-4
Unsigned16 EN 50325-4
Unsigned32 EN 50325-4
Integer8 EN 50325-4
Integer16 EN 50325-4
Integer32 EN 50325-4
Visible string EN 50325-4
Time of day EN 50325-4
Interpolated time period See Table 2
Interpolated data configuration See Table 3
vl velocity acceleration/deceleration See Table 4

5.2 Record definitions

Table 2, Table 3, and Table 4 define the records used in this part of the IEC 61800-7 series.

Table 2 – Interpolated time period

Index Sub-index Description Data type

0080 h 00 h Highest index supported Unsigned8
01 h Interpolation time units Unsigned8
02 h Interpolation time index Integer8
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Table 3 – Interpolated data configuration

Index Sub-index Description Data type

0081 h 00 h Highest index supported Unsigned8
01 h Maximum buffer size Unsigned32
02 h Actual buffer size Unsigned32
03 h Buffer organisation Unsigned8
04 h Buffer position Unsigned16
05 h Size of data record Unsigned8
06 h Buffer clear Unsigned8

Table 4 – vl velocity acceleration/deceleration

Index Sub-index Description Data type

0082 h 00 h Highest index supported Unsigned8
01 h Delta speed Unsigned32
02 h Delta time Integer16

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6 General object definitions

6.1 General

In the following Subclauses, the communication parameter objects, the additional

identification and the information objects are defined.

6.2 Communication parameter objects

There are three communication parameter objects that shall be implemented:

• Device type object 1000 h

• Error register object 1001 h
• Identity object 1018 h

They are defined in EN 50325-4 and the following definitions shall also apply.

The device type object shall define the device type, the device’s functionality, and the
mapping variant.

For multi device modules, the additional information parameter shall contain 0FFF h and the
device profile number referenced by object 1000 h is the device profile of the first device in the
object dictionary. All other devices of a multiple device module shall identify their profiles at
object 67FF h + x × 800 h with x = internal number of the device (0 to 7). For details, see EN
50325-4.

Figure 2 specifies the structure and the values of the device type object, Table 5 specifies the
object description, and Table 6 specifies the entry desciption.

31 24 23 16 15 0
Additional information Device profile number 0192 h (402 d )
Mode bits Type
MSB LSB
Figure 2 – Value definition

Mode bits and type in the additional information are defined in IEC 61800-7-301.

Table 5 – Object description

Attribute Value
Index 1000 h
Name Device type
Object Code See EN 50325-4
Data Type See EN 50325-4
Category Mandatory

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Table 6 – Entry description

Attribute Value
Sub-Index 00 h
Access c
PDO Mapping See IEC 61800-7-301
Value Range See value definition
Default Value Manufacturer-specific

The device-profile specific bit in the error register object (1001 h ) shall be used to indicate that
the error code in the Emergency message is defined in this part of the IEC 61800-7 series.

NOTE The corresponding error code may be read in object 1003 h (see EN 50325-4) or object 603F h .

6.3 Additional identification and information objects

6.3.1 Object 6402 h : Motor type

This object shall indicate the type of motor attached to and driven by the drive device. Table 7
specifies the value definition, Table 8 specifies the object description, and Table 9 specifies
the entry description.

Table 7 – Value definition

Value CANopen name Other names

0000 h Non-standard motor -
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0001 h Phase modulated DC motor -

0002 h Frequency controlled DC motor -
0003 h PM synchronous motor -
0004 h FC synchronous motor AC synchronous sinewave wound field
0005 h Switched reluctance motor AC synchronous reluctance switched
0006 h Wound rotor induction motor AC asynchronous induction polyphase wound rotor
0007 h Squirrel cage induction motor AC asynchronous induction squirrel cage
0008 h Stepper motor AC synchronous step
0009 h Micro-step stepper motor -
000A h Sinusoidal PM BL motor AC synchronous sinusoidal PM
000B h Trapezoidal PM BL motor AC synchronous brushless PM trapezoidal
000C h AC synchronous reluctance sync -
000D h DC commutator PM -
000E h DC commutator wound field series -
000F h DC commutator wound field shunt -
0010 h DC commutator wound field compound -
0011 h to 7FFE h reserved -
7FFF h No motor type assigned -
8000 h to FFFF h Manufacturer-specific -

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Table 8 – Object description

Attribute Value
Index 6402 h
Name Motor type

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Object Code Variable
Data Type Unsigned16
Category Optional

Table 9 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 7
Default Value Manufacturer-specific

6.3.2 Object 6403 h : Motor catalogue number

This object shall indicate the motor catalogue number (nameplate number) provided by the
motor manufacturer. If the number is not assigned yet, this object shall indicate this by /0
(empty string). Table 10 specifies the object description, and Table 11 specifies the entry
description.

Table 10 – Object description

Attribute Value
Index 6403 h
Name Motor catalogue number
Object Code Variable
Data Type Visible String
Category Optional

Table 11 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Visible String
Default Value Manufacturer-specific

6.3.3 Object 6404 h : Motor manufacturer

This object shall indicate the name of the motor manufacturer. If the name is not assigned yet,
this object shall indicate this by /0 (empty string). Table 12 specifies the object description,
and Table 13 specifies the entry description.

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Table 12 – Object description

Attribute Value
Index 6404 h
Name Motor manufacturer
Object Code Variable
Data Type Visible String
Category Optional

Table 13 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Visible String
Default Value Manufacturer-specific

6.3.4 Object 6405 h : http motor catalogue address

This object shall indicate the assigned web-address of the motor catalogue. If the address is
not assigned yet, this object shall indicate this by /0 (empty string). Table 14 specifies the
object description, and Table 15 specifies the entry description.

Table 14 – Object description

Attribute Value
Index 6405 h
Name http motor catalogue address
Object Code Variable
Data Type Visible String
Category Optional

Table 15 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Visible String
Default Value Manufacturer-specific

6.3.5 Object 6406 h : Motor calibration date

This object shall indicate the assigned date of the last motor inspection. If the date is not
assigned yet, this object shall indicate this by a value of 0. Table 16 specifies the object
description, and Table 17 specifies the entry description.
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Table 16 – Object description

Attribute Value
Index 6406 h
Name Motor calibration date
Object Code Variable
Data Type Time of Day
Category Optional

Table 17 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range 0 d or Time of Day
Default Value Manufacturer-specific

6.3.6 Object 6407 h : Motor service period

This object shall indicate the assigned motor service period. If the period is not assigned yet,
this object shall indicate this by 0000 0000 h . The value shall be given in multiples of hours.
Table 18 specifies the object description, and Table 19 specifies the entry description.

Table 18 – Object description

Attribute Value

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Index 6407 h
Name Motor service period
Object Code Variable
Data Type Unsigned32
Category Optional

Table 19 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

6.3.7 Object 6503 h : Drive catalogue number

This object shall indicate the assigned manufacturer's drive catalogue number (nameplate
number). Table 20 specifies the object description, and Table 21 specifies the entry
description.

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Table 20 – Object description

Attribute Value
Index 6503 h
Name Drive catalogue number
Object Code Variable
Data Type Visible String
Category Optional

Table 21 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range No
Default Value /0 (empty string)

6.3.8 Object 6505 h : http drive catalogue address

This object shall indicate the assigned web address of the drive manufacturer. If the address
is not assigned yet, this object shall indicate this by /0 (empty string). Table 22 specifies the
object description, and Table 23 specifies the entry description.

Table 22 – Object description

Attribute Value
Index 6505 h
Name http drive catalogue address
Object Code Variable
Data Type Visible String
Category Optional

Table 23 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range No
Default Value Manufacturer-specific

7 Error codes and error behaviour

7.1 Error codes

Emergency messages are triggered by internal errors and severe warnings detected within
the drive device. They are defined in detail in the IEC 61800-7-301. They shall contain the 16-
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bit error code. Error codes from xx00 h to xx7F h are defined in EN 50325-4 or in Table 24.
Error codes between xx80 h and xxFF h are used manufacturer-specific.

Table 24 – Error codes

Error code Meaning

2110 h Short circuit/earth leakage (input)
2120 h Earth leakage (input)
2121 h Earth leakage phase L1
2122 h Earth leakage phase L2
2123 h Earth leakage phase L3
2130 h Short circuit (input)
2131 h Short circuit phases L1-L2
2132 h Short circuit phases L2-L3
2133 h Short circuit phases L3-L1
2211 h Internal current no.1
2212 h Internal current no.2
2213 h Over-current in ramp function
2214 h Over-current in the sequence
2220 h Continuous over current (device internal)
2221 h Continuous over current no.1
2222 h Continuous over current no.2
2230 h Short circuit/earth leakage (device internal)
2240 h Earth leakage (device internal)
2250 h Short circuit (device internal)
2310 h Continuous over current
2311 h Continuous over current no.1
2312 h Continuous over current no.2
2320 h Short circuit/earth leakage (motor-side)
2330 h Earth leakage (motor-side)
2331 h Earth leakage phase U
2332 h Earth leakage phase V
2333 h Earth leakage phase W
2340 h Short circuit (motor-side)
2341 h Short circuit phases U-V
2342 h Earth leakage phase V-W
2343 h Earth leakage phase W-U
2350 h Load level fault (I 2 t, thermal state)
2351 h Load level warning (I 2 t, thermal state)
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3110 h Mains over-voltage

3111 h Mains over-voltage phase L1
3112 h Mains over-voltage phase L2
3113 h Mains over-voltage phase L3
3120 h Mains under-voltage
3121 h Mains under-voltage phase L1
3122 h Mains under-voltage phase L2

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Error code Meaning

3123 h Mains under-voltage phase L3
3130 h Phase failure
3131 h Phase failure L1
3132 h Phase failure L2
3133 h Phase failure L3
3134 h Phase sequence
3140 h Mains frequency
3141 h Mains frequency too great
3142 h Mains frequency too small
3210 h DC link over-voltage
3211 h Over-voltage no. 1
3212 h Over voltage no. 2
3220 h DC link under-voltage
3221 h Under-voltage no. 1
3222 h Under-voltage no. 2
3230 h Load error
3310 h Output over-voltage
3311 h Output over-voltage phase U
3312 h Output over-voltage phase V
3313 h Output over-voltage phase W
3320 h Armature circuit
3321 h Armature circuit interrupted
3330 h Field circuit
3331 h Field circuit interrupted
4110 h Excess ambient temperature
4120 h Too low ambient temperature
4130 h Temperature supply air
4140 h Temperature air outlet
4210 h Excess temperature device
4220 h Too low temperature device
4300 h Temperature drive
4310 h Excess temperature drive
4320 h Too low temperature drive
4400 h Temperature supply
4410 h Excess temperature supply
4420 h Too low temperature supply
5100 h Supply
5110 h Supply low voltage
5111 h U1 = supply ±15V
5112 h U2 = supply +24 V
5113 h U3 = supply +5 V
5114 h U4 = manufacturer-specific
5115 h U5 = manufacturer-specific
5116 h U6 = manufacturer-specific
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Error code Meaning

5117 h U7 = manufacturer-specific
5118 h U8 = manufacturer-specific
5119 h U9 = manufacturer-specific
5120 h Supply intermediate circuit
5200 h Control
5210 h Measurement circuit
5220 h Computing circuit
5300 h Operating unit
5400 h Power section
5410 h Output stages
5420 h Chopper
5430 h Input stages
5440 h Contacts
5441 h Contact 1 = manufacturer-specific
5442 h Contact 2 = manufacturer-specific
5443 h Contact 3 = manufacturer-specific
5444 h Contact 4 = manufacturer-specific
5445 h Contact 5 = manufacturer-specific
5450 h Fuses
5451 h S1 = l1
5452 h S2 = l2
5453 h S3 = l3
5454 h S4 = manufacturer-specific
5455 h S5 = manufacturer-specific
5456 h S6 = manufacturer-specific
5457 h S7 = manufacturer-specific
5458 h S8 = manufacturer-specific
5459 h S9 = manufacturer-specific
5500 h Hardware memory
5510 h RAM
5520 h ROM/EPROM
5530 h EEPROM
6010 h Software reset (watchdog)
6301 h to 630F h Data record no. 1 to no. 15
6310 h Loss of parameters
6320 h Parameter error
7100 h Power
7110 h Brake chopper
7111 h Failure brake chopper
7112 h Over current brake chopper
7113 h Protective circuit brake chopper
7120 h Motor
7121 h Motor blocked
7122 h Motor error or commutation malfunc.
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Error code Meaning

7123 h Motor tilted
7200 h Measurement circuit
7300 h Sensor
7301 h Tacho fault
7302 h Tacho wrong polarity
7303 h Resolver 1 fault
7304 h Resolver 2 fault
7305 h Incremental sensor 1 fault
7306 h Incremental sensor 2 fault
7307 h Incremental sensor 3 fault
7310 h Speed
7320 h Position
7400 h Computation circuit
7500 h Communication
7510 h Serial interface no. 1
7520 h Serial interface no. 2
7600 h Data storage (external)
8300 h Torque control
8311 h Excess torque
8312 h Difficult start up
8313 h Standstill torque

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8321 h Insufficient torque
8331 h Torque fault
8400 h Velocity speed controller
8500 h Position controller
8600 h Positioning controller
8611 h Following error
8612 h Reference limit
8700 h Sync controller
8800 h Winding controller
8900 h Process data monitoring
8A00 h Control
F001 h Deceleration
F002 h Sub-synchronous run
F003 h Stroke operation
F004 h Control
FF00 h to FFFF h Manufacturer-specific

7.2 Error behavior

The communication system may support an object specifying to which network management
state the drive device shall transit, when a communication error or a severe device-internal
error is detected. When the PDS FSA transits into Error state, this shall be regarded as a
severe device-internal failure.

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8 Controlling the power drive system

8.1 General

The PDS FSA is an abstraction to define the behavior of a black box as a control device
experiences the PDS. It defines the application behavior of the PDS. Due to the requirement
that a PDS provides local control even when the communication network is not working
properly, the communication FSA as defined in the communication system mapping
specifications and the PDS FSA are only loosely coupled.

Figure 3 specifies how the PDS may be operated locally or via the network remotely. The PDS
is operated by local signals (not in the scope of this part of IEC 61800) and by the controlword
sent by the control device via the network. The state of the PDS is reported by the statusword
produced by the drive device. The FSA is also controlled by error detection signals.

The PDS FSA defines the PDS status and the possible control sequence of the PDS. A single
state represents a special internal or external behavior. The state of the PDS also determines
which commands are accepted. For example, it is only possible to start a point-to-point move
when the drive is in the operation enabled state.

controlword local signals

Logical operation local/remote switch

error detection signals

PDS FSA
drive status

statusword

Figure 3 – Remote and local control

8.2 Finite state automaton

Figure 4 specifies the PDS FSA with respect to control of the power electronics as a result of
user commands and internal drive faults.

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Start
0

Not ready to
switch on
1 15
Switch on Fault
disabled
2 7 14
Ready to 13 Fault reaction
10 switch on active
12 3 6
Switched on
8 9

4 5 Power-off or reset
16
Quick stop Operation
active enabled
11

Figure 4 – Power drive system finite state automaton

The FSA states shall support the functions as shown in Table 25. The start state shall be a
pseudo state indicating the start when the FSA is activated during the start-up sequence of
the device drive’s application software.

Table 25 – FSA states and supported functions

Function FSA states

Not Switch on Ready Switched Operation Quick Fault Fault
ready to disabled to on enabled stop reaction
switch switch active active
on on
Brake applied, Yes Yes Yes Yes Yes/No Yes/No Yes/No Yes
if present
Low-level Yes Yes Yes Yes Yes Yes Yes Yes
power applied
High-level Yes/No Yes/No Yes/No Yes Yes Yes Yes Yes/No
power applied
Drive function No No No No Yes Yes Yes No
enabled
Configuration Yes Yes Yes Yes Yes/No Yes/No Yes/No Yes
allowed

If in the quick stop active state the quick stop option code is set to 5, 6, 7 or 8, the drive
device shall not leave this state, but it may transit to the operation enabled state with the
Enable operation command.

The drive device shall support the transitions and actions as given in Table 26. The events
shall initiate the transition. The transition shall be terminated after the action has been
performed.

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Table 26 – Transition events and actions

Transition Event(s) Action(s)

0 Automatic transition after power-on or reset Drive device self-test and/or self initialisation
application shall be performed.
1 Automatic transition Communication shall be activated.
2 Shutdown command from control device or local None
signal
3 Switch on command received from control device The high-level power shall be switched on, if
or local signal possible.
4 Enable operation command received from control The drive function shall be enabled and all
device or local signal internal set-points cleared.
5 Disable operation command received from control The drive function shall be disabled.
device or local signal
6 Shutdown command received from control device The high-level power shall be switched off, if
or local signal possible.
7 Quick stop or disable voltage command from None
control device or local signal
8 Shutdown command from control device or local The drive function shall be disabled, and the
signal high-level power shall be switched off, if possible.
9 Disable voltage command from control device or The drive function shall be disabled, and the
local signal high-level power shall be switched off, if possible.
10 Disable voltage or quick stop command from The high-level power shall be switched off, if
control device or local signal possible.
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11 Quick stop command from control device or local The quick stop function shall be started.
signal
12 Automatic transition when the quick stop function The drive function shall be disabled, and the
is completed and quick stop option code is 1, 2, 3 high-level power shall be switched off, if possible.
or 4, or disable voltage command received from
control device (depends on the quick stop option
code)
13 Fault signal (see also IEC 61800-7-301) The configured fault reaction function shall be
executed.
14 Automatic transition The drive function shall be disabled; the high-
level power shall be switched off, if possible.
15 Fault reset command from control device or local A reset of the fault condition is carried out, if no
signal fault exists currently on the drive device; after
leaving the Fault state, the Fault reset bit in the
controlword shall be cleared by the control
device.
16 Enable operation command from control device, if The drive function shall be enabled.
the quick stop option code is 5, 6, 7, or 8
NOTE It is not recommended to support transition 16.

If a state transition is requested, the related actions shall be processed completely before
transitioning to the new state. Example: In operation enabled state, when the disable
operation command is received, the drive device shall stay in the operation enabled state until
the disable operation function (see object 605C h ) is completed.

Drive devices able to control the contactor for the mains may switch the high-level power. If
the high-level power is switched-off, the motor shall be free to rotate if not braked.

Drive function is disabled implies no energy shall be supplied to the motor. Target or set-point
values (e.g. torque, velocity, position) shall be not processed.

Drive function is enabled implies that energy may be supplied to the motor. Target or set-point
values shall be processed.

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If a fault is detected in the drive device, there shall be a transition to the fault reaction active
state. In this state, the PDS shall execute a special fault reaction. After the execution of this
fault reaction, the drive device shall switch automatically to the fault state. This state shall
only be left by the fault reset command, but only if the fault is not active any more.

In case of fatal error, the drive device is not longer able to control the motor, so that an
immediate switch-off of the drive device is necessary.

The behaviour of drive disabling, quick stop, halt, and fault reaction functions is configurable
by means of configuration objects defined in 8.4.

NOTE If a brake is present, the high-level power is switched off after a delay time in order to apply the brake.

8.3 Modes of operation

The PDS behaviour depends on the activated mode of operation. The PDS may implement
several modes of operation. Since it is not possible to operate the modes in parallel, the user
is able to activate the required function by selecting a mode of operation.

The control device writes to the modes of operation object in order to select the operation
mode. The drive device provides the modes of operation display object to indicate the actual
activated operation mode. Controlword, statusword, and set-points are used mode-specific.
This implies the responsibility of the control device to avoid inconsistencies and erroneous
behaviour. The switching between the modes of operation implies no automatic
reconfiguration of COBs for real-time data transmission.

Therefore, the PDS may limit mode switching in one or some PDS FSA state(s). Mode
switching may also be limited to the 'local control' function; this means it is not possible to
select the operation mode via the network.

The following modes of operation are described in this part of the IEC 61800-7 series:

• Profile position mode

• Homing mode
• Interpolated position mode
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

• Profile velocity mode (e.g. servo drives)

• Torque profile mode
• Velocity mode (e.g. frequency converter)
• Cyclic sync position mode
• Cyclic sync velocity mode
• Cyclic sync torque mode

With the exception of the ‘Homing mode’, the listed modes of operation deal with set-points.
In addition to this, manufacturer-specific modes of operation may also be implemented. These
are not limited to set-points.

Figure 5 shows the general relations between target, reference, effort, and actual values.

Copyright International Electrotechnical Commission

Cyclic sync target value

Target Reference Effort

values Trajectory values Control and values
Motor
generator power stage

Actual values (sensorless)

Actual values (with sensor)

Figure 5 – Relation between different value parameters

8.4 Detailed object specifications

8.4.1 Object 6040 h : Controlword

This object shall indicate the received command controlling the PDS FSA. It shall be
structured as defined in Figure 6. The bits 7, 3, 2, 1, and 0 shall be supported. The other bits
may be supported. The commands shall be coded as given in Table 27.

15 11 10 9 8 7 6 4 3 2 1 0
ms r oms h fr oms eo qs ev so
MSB LSB

LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt; fr = fault reset; eo =
enable operation; qs = quick stop; ev = enable voltage; so = switch on

Figure 6 – Value definition

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Table 27 – Command coding

Bits of the controlword

Command Transitions
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2,6,8
Switch on 0 0 1 1 1 3
Switch on + enable 3+4
operation 0 1 1 1 1
(NOTE)
Disable voltage 0 X X 0 X 7,9,10,12
Quick stop 0 X 0 1 X 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4,16

Fault reset X X X X 15

NOTE Automatic transition to Enable operation state after executing

SWITCHED ON state functionality.

Bits 9, 6, 5, and 4 of the controlword are operation mode specific. The halt function (bit 8)
behaviour is operation mode specific. If the bit is 1, the commanded motion shall be
interrupted, the PDS shall behave as defined in the halt option code. After releasing the halt
function, the commanded motion shall be continued if possible.

The bit 10 is reserved for further use; it shall be set to 0. The bits 11, 12, 13, 14, and 15 are
manufacturer-specific.

Copyright International Electrotechnical Commission

Table 28 specifies the object description, and Table 29 specifies the entry description.

Table 28 – Object description

Attribute Value
Index 6040 h
Name Controlword
Object Code Variable
Data Type Unsigned16
Category Mandatory

Table 29 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 27
Default Value Device and operation mode specific

8.4.2 Object 6041 h : Statusword

This object shall provide the status of the PDS FSA. The object shall be structured as defined
in Figure 7. The bits 10, 9, and 6 to 0 shall be supported. The other bits may be supported.
The bit combinations defined in Table 30 shall code the PDS FSA states.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB

LEGEND: ms = manufacturer-specific; oms = operation mode specific; ila = internal limit active; tr = target reached;
rm = remote; w = warning; sod = switch on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation
enabled; so = switched on; rtso = ready to switch on

Figure 7 – Value definition

Table 30 – State coding

Statusword PDS FSA state

xxxx xxxx x0xx 0000 b Not ready to switch on
xxxx xxxx x1xx 0000 b Switch on disabled
xxxx xxxx x01x 0001 b Ready to switch on
xxxx xxxx x01x 0011 b Switched on
xxxx xxxx x01x 0111 b Operation enabled
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

xxxx xxxx x00x 0111 b Quick stop active

xxxx xxxx x0xx 1111 b Fault reaction active
xxxx xxxx x0xx 1000 b Fault

If bit 4 (voltage enabled) of the statusword is 1, this shall indicate that high voltage is applied
to the PDS.

Copyright International Electrotechnical Commission

If bit 5 (quick stop) of the statusword is 0, this shall indicate that the PDS is reacting on a
quick stop request.

If bit 7 (warning) of the statusword is 1, this shall indicate the presence of a warning
condition. Warning is not an error or fault (examples: temperature limit exceeded, job
refused). The status of the PDS FSA shall not be changed. The cause of the warning may be
given in the fault code parameter object (603F h ).

If bit 9 (remote) of the statusword is 1, this shall indicate that the controlword is processed. If
it is 0 (local), this shall indicate that the controlword is not processed. Nevertheless, the PDS
may provide actual values, and the PDS may accept COB for configuration data transmission

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
for other parameter objects.

If bit 10 (target reached) of the statusword is 1, this shall indicate that the PDS has reached
the set-point. The set-point is operation mode specific and is defined in detail in the
corresponding clauses of this part of the IEC 61800-7 series. Bit 10 shall also be set to 1, if
the operation mode has been changed. The change of a target value by software shall alter
this bit. If quick stop option code is 5, 6, 7 or 8, bit 10 shall be set to 1, when the quick stop
operation is finished and the PDS is halted. If halt occurred and the PDS has halted then bit
10 shall be set to 1, too.

If bit 11 (internal limit active) of the statusword is 1, this shall indicate that an internal limit is
active (example: position range limit). The internal limits are manufacturer-specific.

Bit 13 and bit 12 of the statusword are operation mode specific.

Bit 14 and bit 15 are manufacturer-specific.

Table 31 specifies the object description, and Table 32 specifies the entry description.

Table 31 – Object description

Attribute Value
Index 6041 h
Name Statusword
Object Code Variable
Data Type Unsigned16
Category Mandatory

Table 32 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range See Table 30
Default Value No

8.4.3 Object 603F h : Error code

This object shall provide the error code of the last error which occurred in the drive device.
Table 24 specifies the value definition, Table 33 specifies the object description, and Table 34
specifies the entry description.

Copyright International Electrotechnical Commission

NOTE In CANopen networks, this object provides the same information as the lower 16-bit of sub-index 01 h of the
pre-defined error field (1003 h ).

Table 33 – Object description

Attribute Value
Index 603F h
Name Error code
Object Code Variable
Data Type Unsigned16
Category Optional

Table 34 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range See Table 24
Default Value No

8.4.4 Object 6007 h : Abort connection option code

This object shall indicate what action shall be performed when one of the following events
occurres: bus-off, heartbeat, life guarding, NMT stopped state entered, reset application, and
reset communication. Table 35 specifies the value definition, Table 36 specifies the object
description, and Table 37 specifies the entry description.

Table 35 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 No action
+1 Fault signal
+2 Disable voltage command
+3 Quick stop command
+4 to +32 767 reserved

Table 36 – Object description

Attribute Value
Index 6007 h
Name Abort connection option code
Object Code Variable
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Data Type Integer16

Category Optional

Copyright International Electrotechnical Commission

Table 37 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 35
Default Value +1

8.4.5 Object 605Ah : Quick stop option code

This object shall indicate what action is performed when the quick stop function is executed.
The slow down ramp is the deceleration value of the used mode of operations. Table 38
specifies the value definition, Table 39 specifies the object description, and Table 40 specifies
the entry description.

Table 38 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Disable drive function
+1 Slow down on slow down ramp and transit into
Switch On Disabled
+2 Slow down on quick stop ramp and transit into
Switch On Disabled
+3 Slow down on current limit and transit into
Switch On Disabled
+4 Slow down on voltage limit and transit into
Switch On Disabled
+5 Slow down on slow down ramp and stay in Quick
Stop Active
+6 Slow down on quick stop ramp and stay in Quick
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Stop Active
+7 Slow down on current limit and stay in Quick
Stop Active
+8 Slow down on voltage limit and stay in Quick
Stop Active
+9 to +32 767 reserved

Table 39 – Object description

Attribute Value
Index 605A h
Name Quick stop option code
Object Code Variable
Data Type Integer16
Category Optional

Copyright International Electrotechnical Commission

Table 40 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 38
Default Value +2

8.4.6 Object 605B h : Shutdown option code

This object shall indicate what action is performed if there is a transition from Operation
Enabled state to Ready To Switch On state. The slow down ramp is the deceleration value of
the used mode of operations. Table 41 specifies the value definition, Table 42 specifies the
object description, and Table 43 specifies the entry description.

Table 41 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Disable drive function (switch-off the drive power
stage)
+1 Slow down with slow down ramp; disable of the
drive function
+2 to +32 767 reserved

Table 42 – Object description

Attribute Value
Index 605B h
Name Shutdown option code
Object Code Variable
Data Type Integer16
Category Optional

Table 43 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 41
Default Value 0

8.4.7 Object 605C h : Disable operation option code

This object shall indicate what action is performed if there is a transition from Operation
Enabled state to Switched on state. The slow down ramp is the deceleration value of the used
mode of operations. Table 44 specifies the value definition, Table 45 specifies the object
description, and Table 46 specifies the entry description.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 44 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Disable drive function (switch-off the drive power
stage)
+1 Slow down with slow down ramp; disable of the
drive function

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
+2 to +32 767 reserved

Table 45 – Object description

Attribute Value
Index 605C h
Name Disable operation option code
Object Code Variable
Data Type Integer16
Category Optional

Table 46 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 44
Default Value +1

8.4.8 Object 605D h : Halt option code

This object shall indicate what action is performed when the halt function is executed. The
slow down ramp is the deceleration value of the used mode of operations. Table 47 specifies
the value definition, Table 48 specifies the object description, and Table 49 specifies the entry
description.

Table 47 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Reserved
+1 Slow down on slow down ramp and stay in
Operation Enabled
+2 Slow down on quick stop ramp and stay in
Operation Enabled
+3 Slow down on current limit and stay in Operation
Enabled
+4 Slow down on voltage limit and stay in Operation
Enabled
+5 to +32 767 Reserved

Copyright International Electrotechnical Commission

Table 48 – Object description

Attribute Value
Index 605D h
Name Halt option code
Object Code Variable
Data Type Integer16
Category Optional

Table 49 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 47
Default Value +1

8.4.9 Object 605E h : Fault reaction option code

This object shall indicate what action is performed when fault is detected in the PDS. The
slow down ramp is the deceleration value of the used mode of operations. Table 50 specifies
the value definition, Table 51 specifies the object description, and Table 52 specifies the entry
description.

Table 50 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Disable drive function, motor is free to rotate
+1 Slow down on slow down ramp
+2 Slow down on quick stop ramp
+3 Slow down on current limit
+4 Slow down on voltage limit
+5 to +32 767 reserved

Table 51 – Object description

Attribute Value
Index 605E h
Name Fault reaction option code
Object Code Variable
Data Type Integer16
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 52 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 50
Default Value +2

8.4.10 Object 6060 h : Modes of operation

This object shall indicate the requested operation mode. Table 53 specifies the value
definition, Table 54 specifies the object description, and Table 55 specifies the entry
description.

NOTE This object shows only the value of the requested operation mode, the actual operation mode of the PDS is
reflected in the object modes of operation display.

Table 53 – Value definition

Value Definition
-128 to -1 Manufacturer-specific operation modes
0 No mode change/no mode assigned
+1 Profile position mode
+2 Velocity mode
+3 Profile velocity mode
+4 Torque profile mode
+5 reserved
+6 Homing mode
+7 Interpolated position mode
+8 Cyclic sync position mode
+9 Cyclic sync velocity mode
+10 Cyclic sync torque mode
+11 to +127 reserved

Table 54 – Object description

Attribute Value
Index 6060 h
Name Modes of operation
Object Code Variable
Data Type Integer8
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 55 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 53
Default Value 0

8.4.11 Object 6061 h : Modes of operation display

This object shall provide the actual operation mode. Table 53 specifies the value definition,
Table 56 specifies the object description, and Table 57 specifies the entry description.

Table 56 – Object description

Attribute Value
Index 6061 h
Name Modes of operation display
Object Code Variable

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Data Type Integer8
Category Optional

Table 57 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range See Table 53
Default Value No

8.4.12 Object 6502 h : Supported drive modes

This object shall provide information on the supported drive modes. Figure 8 specifies the
value definition, Table 58 specifies the object description, and Table 59 specifies the entry
description.

31 16 15 10 9 8 7 6 5 4 3 2 1 0
Manufacturer-specific r(eserved) cst csv csp ip hm r tq pv vl pp
MSB LSB

Figure 8 – Value definition

cst, csv, csp, ip, hm, tq, pv, vl, and pp bits:

1 = mode is supported 0 = mode is not supported

manufacturer-specific bits:

1 = function is supported 0 = function is not supported

r(eserved) bits: 0

Copyright International Electrotechnical Commission

Table 58 – Object description

Attribute Value
Index 6502 h
Name Supported drive modes
Object Code Variable
Data Type Unsigned32
Category Mandatory

Table 59 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range See Figure 8
Default Value No

9 Factor group

9.1 General

In some drive device applications several sensor resolution values and ratio values are
needed. They may make use for the objects defined in this clause.

The relation between the user-defined units and the internal units is calculated by the
following equation:

position internal value × feed constant

position actual value =
position encoder resolution × gear ratio

9.2 Detailed object definitions

9.2.1 Object 608F h : Position encoder resolution

This object shall indicate the configured encoder increments and number of motor revolutions.
The position encoder resolution shall be calculated by the following formula:

encoder increments
position encoder resolution =
motor revolution s

All values shall be dimensionless. Table 60 specifies the object description, and Table 61
specifies the entry description.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 60 – Object description

Attribute Value
Index 608F h
Name Position encoder resolution
Object Code Array
Data Type Unsigned32
Category Optional

Table 61 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value Manufacturer-specific (but not equal to 0)

Sub-Index 01 h
Description Encoder increments
Entry Category Mandatory
Access Rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

Sub-Index 02 h
Description Motor revolutions
Entry Category Mandatory
Access Rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

9.2.2 Object 6090 h : Velocity encoder resolution

This object shall indicate the configured encoder increments per second and motor
revolutions per second. The velocity encoder resolution shall be calculated by the following
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

formula:

increments
encoder
velocity encoder resolution = second
revolutions
motor
second

Copyright International Electrotechnical Commission

All values shall be dimensionless. Table 62 specifies the object description, and Table 63
specifies the entry description.

Table 62 – Object description

Attribute Value
Index 6090 h
Name Velocity encoder resolution
Object Code Array
Data Type Unsigned32
Category Optional

Table 63 – Entry description

Sub-Index 01 h
Description Encoder increments per second
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

Sub-Index 02 h
Description Motor revolutions per second
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

9.2.3 Object 6091 h : Gear ratio

This object shall indicate the configured number of motor shaft revolutions and number of
driving shaft revolutions. The gear ratio shall be calculated by the following formula:

motor shaft revolutions

gear ratio =
driving shaft revolutions

Copyright International Electrotechnical Commission

All values shall be dimensionless. Table 64 specifies the object description, and Table 65
specifies the entry description.

Table 64 – Object description

Attribute Value
Index 6091 h
Name Gear ratio
Object Code Array
Data Type Unsigned32
Category Optional

Table 65 – Entry description

Sub-Index 01 h
Description Motor revolutions
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Sub-Index 02 h
Description Shaft revolutions
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

9.2.4 Object 6092 h : Feed constant

This object shall indicate the configured feed constant, this is the measurement distance per
one revolution of the output shaft of the gearbox. The feed constant shall be calculated by the
following formula:

feed
feed constant =
driving shaft revolutions

Copyright International Electrotechnical Commission

The feed shall be given in user-defined position units, and the driving shaft revolution shall be
dimensionless. Table 66 specifies the object description, and Table 67 specifies the entry
description.

Table 66 – Object description

Attribute Value
Index 6092 h
Name Feed constant
Object Code Array
Data Type Unsigned32
Category Optional

Table 67 – Entry description

Sub-Index 01 h
Description Feed
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

Sub-Index 02 h
Description Shaft revolutions
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific (but not equal to 0)

9.2.5 Object 607E h : Polarity

This object shall indicate if the position demand value shall be multiplied by 1 of by –1. The
polarity flag shall have no influence on the homing mode. The position polarity bit shall be
used only for profile position ( pp ) mode and cyclic sync position mode ( csp ). The velocity
polarity bit shall be used only for profile velocity ( pv ) mode and cyclic sync velocity mode
( csv ). Figure 9 specifies the value definition, Table 68 specifies the object description, and
Table 69 specifies the entry description.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

7 6 5 0
Position polarity Velocity polarity reserved (0)
MSB LSB

Figure 9 – Value definition

The polarity bits shall be coded as follows: 0 b = multiply by 1 and 1 b = multiply by -1

Table 68 – Object description

Attribute Value
Index 607E h
Name Polarity
Object Code Variable
Data Type Unsigned8
Category Optional

Table 69 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Figure 9
Default Value 00 h

10 Profile position mode

10.1 General information

The overall structure for this mode is shown in Figure 10. A target position is applied to the
trajectory generator. It is generating a position demand value for the position control loop
described in the position control function (see 12.3.1). These two function blocks are
optionally controlled by individual parameter sets.

Trajectory Position
generator control law
parameters parameters
Position demand
internal value
(60FCh) or
Target position Position demand Control effort
(607A h) Value (6062h) Position
Trajectory (60FA h)
control
generator
function

Figure 10 – Trajectory generator and position control function

At the input to the trajectory generator, parameters may have optional limits applied before
being normalised to internal units. The simplest form of a trajectory generator is just to pass
through a target position and to transform it to a position demand internal value with internal
units (increments) only. Figure 11 defines the detailed structure of the trajectory generator.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Target position (607Ah)

Position range limit (607Bh) Limit Target position [inc]
Software position limit (607Dh) function Multiplier
Polarity (607Eh)

Polarity (607Eh) Profile velocity Position

or End velocity demand
Profile velocity (6081 h) Multiplier [inc/s] internal
Limit value
End velocity (6082h)
function (60FCh)

Max profile velocity (607Fh)

Max motor speed (6080h) Minimum Trajectory
comparator Velocity limit generator

Profile acceleration (6083h)

Profile acceleration
Profile deceleration (6084h) or profile deceleration
or quick-stop deceleration
Quick-stop deceleration (6085h) Limit [inc/s 2]
Max acceleration (60C5h) function
Max deceleration (60C6 h)

Quick-stop option code (605Ah)

Motion profile type (6086h)

inc = internal increments

Figure 11 – Trajectory generator for profile position mode

10.2 Functional description

10.2.1 General

The setting of set-points is controlled by the timing of the new set-point bit and the change set
immediately bit in the controlword as well as the set-point acknowledge bit in the statusword.

If the change set immediately bit of the controlword is set to 1, a single set-point is expected
by the drive device. If the change set immediately bit of the controlword is set to 0, a set of
set-points is expected by the drive device.

After a set-point is applied to the drive device, the control device signals that the set-point is
valid by a rising edge of the new set-point bit in the controlword. The drive device sets the
set-point acknowledge bit in the statusword to 1, and afterwards, the drive device signals with
the set-point acknowledge bit set to 0 its ability to accept new set-points. An example is
shown in Figure 12.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Actual
speed

New
set-point
(bit 4) t

Target
position t
(set-point)

Set-point t
acknowledge
(bit 12) t

Target
reached
(bit 10) t

Figure 12 – Set-point example

If one set-point is still in progress and a new one is validated, two methods of handling are
supported: single set-point ( change set immediately bit of controlword is 1) and set of set-
points ( change set immediately bit of controlword is 0).

10.2.2 Single set-point

When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in
the controlword, the new set-point shall be processed immediately. The handshaking
procedure shown in Figure 13 is used for the single set-point method.

Actual
speed

New
set-point
(bit 4) t

Target
position
(set-point) t
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Current target
position
processed t

Set-point
acknowledge
(bit 12) t

Target
reached
(bit 10) t

Figure 13 – Handshaking procedure for the single set-point method

Copyright International Electrotechnical Commission

10.2.3 Set of set-points

When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in
the controlword, the new set-point shall be processed only after the previous has been
reached. The handshaking procedure shown in Figure 14 is used for the set of set-points
method. The additional grey line segment in the graph ‘actual speed’ shows the actual speed
if the change of set point bit (bit 9) is set to 1.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Actual
speed

New
set-point
(bit 4) t

Target
position
(set-point) t

Current target
position
processed t

Set-point
acknowledge
(bit 12) t

Target
reached
(bit 10) t

Figure 14 – Handshaking procedure for the set of set-points method

If a drive device supports set of set-points, a minimum of two set-points are available, a set-
point that is currently been processed an d a buffered set-point. The set-points are handled as
shown in Figure 15.

1 2 3 4 5

New
set-point
(bit 4) t

Change set
immediately
(bit 5) t

set-point A B C D E

Buffered
set-point B C C

Processed
set-point A A B B B E

Set-point
acknowledge
(bit 12) t

Target
reached
(bit 10) t

Figure 15 – Set-point handling for two set-points

New set-points are buffered in the set-point list as long as free set-points are available in the
drive device. If no set-point is in progress, the new set-point shall become active immediately
(1). If a set-point is in progress, the new set-point shall be stored in the first set-point buffer
that is free (2 + 3).

If all set-point buffers are busy ( set-point acknowledge ´bit is 1), the reaction depends on the
change set immediately bit. If the change set immediately bit is set to 1, the new set-point
shall be processed immediately as single set-point. All previously loaded set-points shall be
discarded (5).

The target reached bit shall remain 0 until all set-points are processed.

10.3 General definitions

The internal software limits shall not be exceeded by external settings configured by the user.

10.4 Use of controlword and statusword

The profile position mode uses some bits of the controlword and the statusword for mode-
specific purposes. Figure 16 shows the structure of the controlword. If no positioning is in
progress, the rising edge of bit 4 shall start the positioning of the axis. In case a positioning is
in progress, the definitions given in Table 70 shall be used. Table 71 defines the values for bit
6 and 8 of the controlword.

NOTE It is assumed that the target position is edge-triggered 0->1 otherwise the drive could set immediately new
values, which leads to unexpected behaviour.

15 10 9 8 7 6 5 4 3 0
Change
Change set New set-
(see 8.4.1) on set- Halt (see 8.4.1) abs/rel (see 8.4.1)
immediately point
point
MSB LSB

Figure 16 – Controlword for profile position (pp) mode

Table 70 – Definition of bit 4, bit 5, and bit 9

Bit 9 Bit 5 Bit 4 Definition

0 0 0 -> 1 Positioning shall be completed (target reached) before the next one gets
started (see Figure 12 and Figure 14)
X 1 0 -> 1 Next positioning shall be started immediately (see Figure 12 and Figure 13)
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

1 0 0 -> 1 Positioning with the current profile velocity up to the current setpoint shall be
proceeded and then next positioning (see Figure 12 and Figure 14) shall be
applied

Table 71 – Definition of bit 6 and bit 8

Bit Value Definition

6 0 Target position shall be an absolute value
1 Target position shall be a relative value (depending on object 60F2 h )
8 0 Positioning shall be executed or continued
1 Axis shall be stopped accordingly to halt option code (605D h )

Figure 17 shows the structure of the statusword. Table 72 defines the values for bit 10, bit 12,
and bit 13.

Copyright International Electrotechnical Commission

15 14 13 12 11 10 9 0
Set-point Target
(see 8.4.2) Following error (see 8.4.2) (see 8.4.2)
acknowledge reached
MSB LSB

Figure 17 – Statusword for profile position (pp) mode

Table 72 – Definition of bit 10, bit 12, and bit 13

Bit Value Definition

10 0 Halt (Bit 8 in controlword) = 0: Target position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1 Halt (Bit 8 in controlword) = 0: Target position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
12 0 Previous setpoint already processed, waiting for new setpoint
1 Previous setpoint still in process, setpoint overwriting shall be accepted
13 0 No following error
1 Following error

10.5 Detailed object definitions

10.5.1 Object 607Ah : Target position

This object shall indicate the commanded position that the drive should move to in position
profile mode using the current settings of motion control parameters such as velocity,
acceleration, deceleration, motion profile type etc. The value of this object shall be interpreted
as absolute or relative depending on the ‘abs/rel' flag in the controlword. It shall be given in
user-defined position units and shall be converted to position increments. Table 73 specifies
the object description, and Table 74 specifies the entry description.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Table 73 – Object description

Attribute Value
Index 607A h
Name Target position
Object Code Variable
Data Type Integer32
Category Optional; mandatory if pp, pc or csp is
supported

Table 74 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

Copyright International Electrotechnical Commission

10.5.2 Object 607B h : Position range limit

This object shall indicate the configured maximal and minimal position range limits. It shall
limit the numerical range of the input value. On reaching or exceeding these limits, the input
value shall wrap automatically to the other end of the range. Wrap-around of the input value
may be prevented by setting software position limits as defined in software position limit
object (607D h ). The values shall be given in user-defined position units. Table 75 specifies
the object description, and Table 76 specifies the entry description.

Table 75 – Object description

Attribute Value
Index 607B h
Name Position range limit
Object Code Array
Data Type Integer32
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Table 76 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value Manufacturer-specific

Sub-Index 01 h
Description Min position range limit
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

Sub-Index 02 h
Description Max position range limit
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

10.5.3 Object 607D h : Software position limit

This object shall indicate the configured maximal and minimal software position limits. These
parameters shall define the absolute position limits for the position demand value and the

Copyright International Electrotechnical Commission

position actual value. Every new target position shall be checked against these limits. The
limit positions shall be always relative to the machine home position. Before being compared
with the target position, they shall be corrected internally by the home offset as follows:

corrected min position limit = min position limit – home offset

corrected max position limit = max position limit – home offset

This calculation needs only be performed when home offset or software position limit is
changed.

The limit positions shall be given in user-defined position units (same as target position).
Table 77 specifies the object description, and Table 78 specifies the entry description.

Table 77 – Object description

Attribute Value
Index 607D h
Name Software position limit
Object Code Array
Data Type Integer32
Category Optional

Table 78 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value Manufacturer-specific

Sub-Index 01 h
Description Min position limit
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

Sub-Index 02 h
Description Max position limit
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

10.5.4 Object 607F h : Max profile velocity

This object shall indicate the configured maximal allowed velocity in either direction during a
profiled motion. The value shall be given in the very same physical unit as the profile velocity
object (6081 h ). Table 79 specifies the object description, and Table 80 specifies the entry
description.

Table 79 – Object description

Attribute Value
Index 607F h
Name Max profile velocity
Object Code Variable
Data Type Unsigned32
Category Optional

Table 80 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.5 Object 6080 h : Max motor speed

This object shall indicate the configured maximal allowed speed for the motor in either
direction. It is used to protect the motor and is taken from the motor data sheet. The value
shall be given in rotations per minute (rpm). Table 81 specifies the object description, and
Table 82 specifies the entry description.

Table 81 – Object description

Attribute Value
Index 6080 h
Name Max motor speed
Object Code Variable
Data Type Unsigned32
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 82 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.6 Object 6081 h : Profile velocity

This object shall indicate the configured velocity normally attained at the end of the
acceleration ramp during a profiled motion and shall be valid for both directions of motion.
allowed velocity in either direction during a profiled motion. The value shall be given in user-
defined speed units. It shall be converted to position increments per second using the velocity
encoder factor object. Table 83 specifies the object description, and Table 84 specifies the
entry description.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Table 83 – Object description

Attribute Value
Index 6081 h
Name Profile velocity
Object Code Variable
Data Type Unsigned32
Category Conditional: mandatory if pp is supported

Table 84 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.7 Object 6082 h : End velocity

This object shall indicate the configured velocity, which the drive shall have on reaching the
target position. Normally, the drive stops at the target position, i.e. the end velocity = 0. The
value shall be given in the same physical unit as the profile velocity object (6081 h ). Table 85
specifies the object description, and Table 86 specifies the entry description.

Copyright International Electrotechnical Commission

Table 85 – Object description

Attribute Value
Index 6082 h
Name End velocity
Object Code Variable
Data Type Unsigned32
Category Optional

Table 86 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value 0000 0000 h

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
10.5.8 Object 6083 h : Profile acceleration

This object shall indicate the configured acceleration. The value shall be given in user-defined
acceleration units; it shall be converted to position increments per square second (s 2 ) using
the normalising factors (see Clause 9). Table 87 specifies the object description, and Table
88 specifies the entry description.

Table 87 – Object description

Attribute Value
Index 6083 h
Name Profile acceleration
Object Code Variable
Data Type Unsigned32
Category Conditional: mandatory if pp or pv is supported

Table 88 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.9 Object 6084 h : Profile deceleration

This object shall indicate the configured deceleration. If this parameter is not supported, then
the profile acceleration object (6083 h ) value shall be used for deceleration, too. The value
shall be given in the same physical units as profile acceleration object (6083 h ). Table 89
specifies the object description, and Table 90 specifies the entry description.

Copyright International Electrotechnical Commission

Table 89 – Object description

Attribute Value
Index 6084 h
Name Profile deceleration
Object Code Variable
Data Type Unsigned32
Category Optional

Table 90 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

10.5.10 Object 6085 h : Quick stop deceleration

This object shall indicate the configured deceleration used to stop the motor when the quick
stop function is activated and the quick stop code object (605A h ) is set to 2 or 6. The quick
stop deceleration is also used if the fault reaction code object (605E h ) is 2 and the halt option
code object (605D h ) is 2. The value shall be given in the same physical unit as profile
acceleration object (6083 h ). Table 91 specifies the object description, and Table 92 specifies
the entry description.

Table 91 – Object description

Attribute Value
Index 6085 h
Name Quick stop deceleration
Object Code Variable
Data Type Unsigned32
Category Optional

Table 92 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.11 Object 6086 h : Motion profile type

This object shall indicate the configured type of motion profile used to perform a profiled
motion. Table 93 specifies the value definition, Table 94 specifies the object description, and
Table 95 specifies the entry description.

Copyright International Electrotechnical Commission

Table 93 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Linear ramp (trapeziodal profile)
+1 Sin 2 ramp
+2 Jerk-free ramp
+3 Jerk-limited ramp
+4 to +32 767 Reserved

Table 94 – Object description

Attribute Value
Index 6086 h
Name Motion profile type
Object Code Variable
Data Type Integer16
Category Optional

Table 95 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value 0

10.5.12 Object 60A3 h : Profile jerk use

This object shall indicate the configured number of sub-indices used in the profile jerk object
(60A4 h ) for the jerk profile movement. If this object is not implemented, the profile jerk object
shall be used as it is implemented. The value shall be dimensionless, the value of FF h shall
indicate that the profile jerk use is not configured. Table 96 specifies the object description,
and Table 97 specifies the entry description.

Table 96 – Object description

Attribute Value
Index 60A3 h
Name Profile jerk use
Object Code Variable
Data Type Unsigned8
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 97 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range 01 h to 06 h and FF h
Default Value Manufacturer-specific

10.5.13 Object 60A4 h : Profile jerk

This object shall indicate the configured set of jerk parameters that shall be used during the
profile movement. Figure 18 shows the defined jerks (A, B, C, D, E, and F). The values shall
be given in user-defined jerk units. Table 98 specifies the value assignment to jerks
depending of the value of profile jerk use object (60A3 h ). If object 60A3 h is not implemented,
the sub-index 00 h shall be used to assign the values given in the other sub-indices to the
jerks. Table 99 specifies the object description, and Table 100 specifies the entry description.

B C
velocity

D
E
A
F
time

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Figure 18 – Velocity/time diagram with jerk positions

Table 98 – Value assignments

Value in 60A3 h or sub- Value assignment to jerks

index 00 h of 60A4 h if
60A3 h is not A B C D E F
implemented
01 h 01 h 01 h 01 h 01 h - -
02 h 01 h 01 h 02 h 02 h - -
04 h 01 h 03 h 02 h 04 h - -
06 h 01 h 03 h 02 h 04 h 05 h 06 h

Table 99 – Object description

Attribute Value
Index 60A4 h
Name Profile jerk
Object Code Array
Data Type Unsigned32
Category Optional

Copyright International Electrotechnical Commission

Table 100 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 01 h , 02 h , 04 h , or 06 h ,
Default Value Manufacturer-specific

Sub-Index 01 h
Description Profile jerk 1
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Sub-Index 02 h
Description Profile jerk 2
Entry Category Optional
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Sub-Index 06 h
Description Profile jerk 6
Entry Category Optional
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.14 Object 60C5 h : Max acceleration

This object shall indicate the configured maximal acceleration. It is used to limit the
acceleration to an acceptable value in order to prevent the motor and the moved mechanics
from being destroyed. The value shall be given in user-defined acceleration physical units.
Table 101 specifies the object description, and Table 102 specifies the entry description.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`

Copyright International Electrotechnical Commission

Table 101 – Object description

Attribute Value
Index 60C5 h
Name Max acceleration
Object Code Variable
Data Type Unsigned32
Category Optional

Table 102 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

10.5.15 Object 60C6 h : Max deceleration

This object shall indicate the configured maximal deceleration. It is used to limit the
acceleration to an acceptable value in order to prevent the motor and the moved mechanics
from being destroyed. The value shall be given in the same physical unit as the max
acceleration object (60C5 h ). Table 103 specifies the object description, and Table 104
specifies the entry description.

Table 103 – Object description

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Attribute Value
Index 60C6 h
Name Max deceleration
Object Code Variable
Data Type Unsigned32
Category Optional

Table 104 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Copyright International Electrotechnical Commission

11 Homing mode

11.1 General information

This clause describes the method by which a drive seeks the home position (also called, the
datum, reference point or zero point). There are various methods of achieving this using limit
switches at the ends of travel or a home switch (zero point switch) in mid-travel, most of the
methods also use the index (zero) pulse train from an incremental encoder.

11.2 Functional description

Figure 19 shows the defined input objects as well as the output objects. The user may specify
the speeds, acceleration and the method of homing. There is a further object home offset,
which allows the user to displace zero in the user’s coordinate system from the home position.

There is no output data except for those bits in the statusword, which return the status or
result of the homing process and the demand to the position control loops.

There are two homing speeds; in a typical cycle, the faster speed is used to find the home
switch and the slower speed is used to find the index pulse. The manufacturer is allowed
some discretion in the use of these speeds as the response to the signals may be dependent
upon the hardware used.

Controlword (6040h)
Homing method (6098h) Statusword (6041h)
Homing speeds (6099 h) Homing Position demand internal value (60FC h)
Homing acceleration (609Ah) method or Position demand value (6062h)
Home offset (607Ch)

Figure 19 – Homing mode function

By choosing a homing method, the following behaviour is determined: The homing signal
(positive limit switch, negative limit switch, home switch), the direction of actuation and where
appropriate, the position of the index pulse.

The home position and the zero position are offset by the home offset; see the definition of
home offset for how this offset is used.

An encircled number in the figures Figure 20 to Figure 27 indicates the code for selection of
this homing position. The direction of movement is also indicated.

There are four sources of homing signal available: These are the negative and positive limit
switches, the home switch and the index pulse from an encoder. In case, that a limit switch
has reached the drive shall move in the other direction to leave the position.

In the diagrams of homing sequences shown below, the encoder count increases as the axis's
position moves to the right, in other words, the left is the minimum position and the right is the
maximum position.

For the operation of positioning drives, an exact knowledge of the absolute position is
normally required. Since, for cost reasons, drives often do not have an absolute encoder, a
homing operation is necessary. There are several, application-specific methods. The homing
method is used for selection.

The exact sequence of the homing operation is clearly described by the method. In some
circumstances, a drive device has several methods to choose from, using the homing method.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

11.3 General definitions

11.3.1 Method 1: Homing on negative limit switch and index pulse

Using this method as shown in Figure 20, the initial direction of movement shall be leftward if
the negative limit switch is inactive (here: low). The home position shall be at the first index
pulse to the right of the position where the negative limit switch becomes inactive.

Index Pulse

Negative Limit Switch

Figure 20 – Homing on negative limit switch and index pulse

11.3.2 Method 2: Homing on positive limit switch and index pulse

Using this method as shown in Figure 21, the initial direction of movement shall be rightward
if the positive limit switch is inactive (here: low). The position of home shall be at the first
index pulse to the left of the position where the positive limit switch becomes inactive.

Index Pulse

Positive Limit Switch

Figure 21 – Homing on positive limit switch and index pulse

11.3.3 Method 3 and 4: Homing on positive home switch and index pulse

Using these methods as shown in Figure 22, the initial direction of movement shall be
dependent on the state of the home switch. The home position shall be at the index pulse to
either to the left or the right of the point where the home switch changes state. If the initial
position is situated so that the direction of movement shall reverse during homing, the point at
which the reversal takes place is anywhere after a change of state of the home switch.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Index Pulse

Home Switch

Figure 22 – Homing on positive home switch and index pulse

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
11.3.4 Method 5 and 6: Homing on negative home switch and index pulse

Using these methods as shown in Figure 23, the initial direction of movement shall be
dependent on the state of the home switch. The home position shall be at the index pulse to
either to the left or the right of the point where the home switch changes state. If the initial
position is situated so that the direction of movement shall reverse during homing, the point at
which the reversal takes place is anywhere after a change of state of the home switch.

Index Pulse

Home Switch

Figure 23 – Homing on negative home switch and index pulse

11.3.5 Method 7 to 14: Homing on home switch and index pulse

These methods use a home switch, which is active over only a portion of the travel, in effect
the switch has a ‘momentary’ action as the axis's position sweeps past the switch. Using the
methods 7 to 10, the initial direction of movement shall be to the right, and using methods 11
to 14, the initial direction of movement shall be to the left except if the home switch is active
at the start of the motion. In this case, the initial direction of motion shall be dependent on the
edge being sought. The home position shall be at the index pulse on either side of the rising
or falling edges of the home switch, as shown in Figure 24 and Figure 25. If the initial
direction of movement leads away from the home switch, the drive shall reverse on
encountering the relevant limit switch.

Copyright International Electrotechnical Commission

8 10

7 9

7 10

8 9

7 9

8 10

Index Pulse

Home Switch

Positive Limit Switch

Figure 24 – Homing on home switch and index pulse – positive initial motion

14 12

13 11

14 11

13 12

13 11

14 12

Index Pulse

Home Switch

Negative Limit Switch

Figure 25 – Homing on home switch and index pulse – negative initial motion

11.3.6 Method 15 and 16: Reserved

These methods are reserved.

11.3.7 Method 17 to 30: Homing without index pulse

These methods are similar to methods 1 to 14 except that the home position is not dependent
on the index pulse but only dependent on the relevant home or limit switch transitions. For
example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 26.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,

Copyright International Electrotechnical Commission

Home Switch

Figure 26 – Homing on positive home switch

11.3.8 Method 31 and 32: Reserved

These methods are reserved.

11.3.9 Method 33 and 34: Homing on index pulse

Using these methods, the direction of homing is negative or positive respectively. The home
position shall be at the index pulse found in the selected direction as shown in Figure 27.

Index Pulse

Figure 27 – Homing on index pulse

11.3.10 Method 35: Homing on index pulse

In this method, the current position shall be taken to be the home position. This method does
not require the drive device to be in operational enabled state.

11.3.11 Method 36: Homing with touch-probe

In this method, the position is not sampled by the control device, but by the drive device itself.
When the switch is triggered, the corresponding actual position together with the switch signal
shall be reported.

11.4 Use of controlword and statusword

The homing mode uses some bits of the controlword and the statusword for mode-specific
purposes. Figure 28 shows the structure of the controlword. Table 105 defines the values for
bit 4 and 8 of the controlword.

15 9 8 7 6 5 4 3 0
(see 8.4.1) Halt (see 8.4.1) reserved (0) Homing operation start (see 8.4.1)
MSB LSB

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Figure 28 – Controlword for homing mode

Copyright International Electrotechnical Commission

Table 105 – Definition of bit 4 and bit 8

Bit Value Definition

4 0 Do not start homing procedure
1 Start or continue homing procedure
8 0 Enable bit 4
1 Stop axis according to halt option code (605D h )

Figure 29 shows the structure of the statusword. Table 106 defines the values for bit 10, bit
12, and bit 13.

15 14 13 12 11 10 9 0
Target
(see 8.4.2) Homing error Homing attained (see 8.4.2) (see 8.4.2)
reached
MSB LSB

Figure 29 – Statusword for homing mode

Table 106 – Definition of bit 10, bit 12, and bit 13

Bit 13 Bit 12 Bit 10 Definition

0 0 0 Homing procedure is in progress
0 0 1 Homing procedure is interrupted or not started
0 1 0 Homing is attained, but target is not reached
0 1 1 Homing procedure is completed successfully
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 X reserved

11.5 Detailed object definitions

11.5.1 Object 607C h : Home offset

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This object shall indicate the configured difference between the zero position for the
application and the machine home position (found during homing). During homing, the
machine home position is found and once the homing is completed, the zero position is offset
from the home position by adding the home offset to the home position. All subsequent
absolute moves shall be taken relative to this new zero position. This is illustrated in Figure
30. If this object is not implemented, then the home offset shall be regarded as zero. The
value of this object shall be given in user-defined position units. Negative values shall indicate
the opposite direction.

Zero Home
position position
Home offset

Figure 30 – Home offset definition

Copyright International Electrotechnical Commission

Table 107 specifies the object description, and Table 108 specifies the entry description.

Table 107 – Object description

Attribute Value
Index 607C h
Name Home offset
Object Code Variable
Data Type Integer32
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Table 108 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value 0d

11.5.2 Object 6098 h : Homing method

This object shall indicate the configured homing method that shall be used. Table 109
specifies the value definition, Table 110 specifies the object description, and Table 111
specifies the entry description.

Table 109 – Value definition

Value Definition
-128 d to -1 d Manufacturer-specific
0d No homing method assigned
+1 d Method 1 shall be used
to
+35 d Method 35 shall be used
+36 d Method 36 shall be used
+37 d to +127 d reserved

Table 110 – Object description

Attribute Value
Index 6098 h
Name Homing method
Object Code Variable
Data Type Integer8
Category Conditional: mandatory if hm is supported

Copyright International Electrotechnical Commission

Table 111 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 109
Default Value Manufacturer-specific

11.5.3 Object 6099 h : Homing speeds

This object shall indicate the configured speeds used during homing procedure. The values
shall be given in user-defined velocity units. Table 112 specifies the object description, and
Table 113 specifies the entry description.

Table 112 – Object description

Attribute Value
Index 6099 h
Name Homing speeds
Object Code Array
Data Type Unsigned32
Category Conditional: mandatory if hm is supported

Table 113 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description Speed during search for switch
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Copyright International Electrotechnical Commission

Table 113 (continued)

Attribute Value
Sub-Index 02 h
Description Speed during search for zero
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

11.5.4 Object 609Ah : Homing acceleration

This object shall indicate the configured acceleration and deceleration to be used during
homing operation. The value shall be given in user-defined acceleration units. Table 114
specifies the object description, and Table 115 specifies the entry description.

Table 114 – Object description

Attribute Value
Index 609A h
Name Homing acceleration
Object Code Variable
Data Type Unsigned32
Category Optional

Table 115 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

11.5.5 Object 60B8 h : Touch probe function

This object shall indicate the configured function of the touch probe. Table 116 specifies the
value definition, Table 117 specifies the object description, and Table 118 specifies the entry
description.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 116 – Value definition

Bit Value Definition

0 0 Switch off touch probe 1
1 Enable touch probe 1
1 0 Trigger first event
1 continous
2 0 Trigger with touch probe 1 input
1 Trigger with zero impulse signal or position encoder
3 0 Reserved
4 0 Switch off sampling at positive edge of touch probe 1
1 Enable sampling at positive edge of touch probe 1
5 0 Switch off sampling at negative edge of touch probe 1
1 Enable sampling at negative edge of touch probe 1
6, 7 - User-defined (e.g. for testing)
8 0 Switch off touch probe 2
1 Enable touch probe 2
9 0 Trigger first event
1 Continous
10 0 Trigger with touch probe 2 input
1 Trigger with zero impulse signal or position encoder
11 0 Reserved
12 0 Switch off sampling at positive edge of touch probe 2
1 Enable sampling at positive edge of touch probe 2
13 0 Switch off sampling at negative edge of touch probe 2
1 Enable sampling at negative edge of touch probe 2
14, 15 - User-defined (e.g. for testing)

Table 117 – Object description

Attribute Value
Index 60B8 h
Name Touch probe function
Object Code Variable
Data Type Unsigned16
Category Optional

Table 118 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 116
Default Value Manufacturer-specific

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

11.5.6 Object 60B9 h : Touch probe status

This object shall provide the status of the touch probe. Table 119 specifies the value, Table
120 specifies the object description, and Table 121 specifies the entry description.

Table 119 – Value definition

Bit Value Definition

0 0 Touch probe 1 is switched off
1 Touch probe 1 is enabled
1 0 Touch probe 1 no positive edge value stored
1 Touch probe 1 negative edge position stored
2 0 Touch probe 1 no negative edge value stored
1 Touch probe 1 positive edge position stored
3 to 5 0 Reserved
6, 7 - User-defined (e.g. for testing)
8 0 Touch probe 2 is Switched off
1 Touch probe 2 is Enabled
9 0 Touch probe 2 no positive edge value stored
1 Touch probe 2 negative edge position stored
10 0 Touch probe 2 no negative edge value stored
1 Touch probe 2 positive edge position stored
11 to 13 0 Reserved
14, 15 - User-defined (e.g. for testing)

Table 120 – Object description

Attribute Value
Index 60B9 h
Name Touch probe status
Object Code Variable
Data Type Unsigned16
Category Optional

Table 121 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range See Table 119
Default Value No

11.5.7 Object 60BAh : Touch probe pos1 pos value

This object shall provide the position value of the touch probe 1 at positive edge. The value
shall be given in user-defined position units. Table 122 specifies the object description, and
Table 123 specifies the entry description.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 122 – Object description

Attribute Value
Index 60BA h
Name Touch probe pos1 pos value
Object Code Variable
Data Type Integer32
Category Optional

Table 123 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

11.5.8 Object 60BB h : Touch probe pos1 neg value

This object shall provide the position value of the touch probe 1 at negative edge. The value
shall be given in user-defined position units. Table 124 specifies the object description, and
Table 125 specifies the entry description.

Table 124 – Object description

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Attribute Value
Index 60BB h
Name Touch probe pos1 neg value
Object Code Variable
Data Type Integer32
Category Optional

Table 125 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

11.5.9 Object 60BC h : Touch probe pos2 pos value

This object shall provide the position value of the touch probe 2 at positive edge. The value
shall be given in user-defined position units. Table 126 specifies the object description, and
Table 127 specifies the entry description.

Copyright International Electrotechnical Commission

Table 126 – Object description

Attribute Value
Index 60BC h
Name Touch probe pos2 pos value
Object Code Variable
Data Type Integer32
Category Optional

Table 127 – Entry description

Attribute Value
Sub-Index 00 h
Access ro

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

11.5.10 Object 60BD h : Touch probe pos2 neg value

This object shall provide the position value of the touch probe 2 at negative edge. The value
shall be given in user-defined position units. Table 128 specifies the object description, and
Table 129 specifies the entry description.

Table 128 – Object description

Attribute Value
Index 60BD h
Name Touch probe pos2 neg value
Object Code Variable
Data Type Integer32
Category Optional

Table 129 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

12 Position control function

12.1 General information

For closed-loop position, the position demand value (as one of the outputs of the trajectory
generator) and the output of the position detection unit ( position actual value ) like a resolver
or encoder, are used input parameters. The behaviour of the closed-loop control is influenced

Copyright International Electrotechnical Commission

by control parameters, which are externally applicable. To keep the loop stable, a relative
limitation of the output using the previous control effort is optional. In order not to exceed the
physical limits of a drive, an absolute limit function may be implemented for the control effort.

12.2 Functional description

Figure 31 shows the inputs and outputs of the position control function. The control effort may
be a velocity demand value , a position demand value or any other output value, depending on
the modes of operation implemented in the drive device. Especially in cascaded control
structures, where a position control is followed by a torque control, for example the control
effort of the position control loop is used as an input for a further calculation.

Position demand value (6062 h)

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Closed-
loop Control effort (60FA h)
Position actual value (6064 h) position
control

Figure 31 – Position control function

All values are transformed – if necessary – from user-defined units to normalised units such
as increments.

A position actual value outside the allowed range of the following error window around a
position demand value for longer than the following error time out shall result in setting bit 13
( following error ) in the statusword to 1. This is shown in detail in Figure 32. Depending on the
supported modes of operation ( pp , hm , or ip ) and on the capabilities of different categories of
drives, only some of the mentioned input parameters may be necessary.

Following error time out (6066 h)

Following error window (6065h)

Following error in
Window statusword (6041h)
Timer
comparator
+
Position demand value (6062h)

Position actual value (6064h)

Figure 32 – Following error (functional overview)

The position reached function as shown in Figure 33 offers the possibility to define a position
range around a position demand value to be regarded as valid. If a drive’s position is within
this area for a specified time – the position window time – the related control bit 10 target
reached in the statusword shall be set to 1.

Copyright International Electrotechnical Commission

Position window time (6068h)

Positioning window (6067h)

Target reached in
Window statusword (6041h)
Timer
comparator
-
Position actual value (6064h)

Home offset (607Ch)

Position range (607Bh) Limit
Software position limit (607Dh) function

Target position (607Ah)

Figure 33 – Position reached (functional overview)

The control functions following error and position reached have direct access to the
statusword and shall give immediate notification to the user if their results change.

Figure 34 shows the definitions of the sub-function position reached. A window is defined for
the accepted position range symmetrically around the target position. If a drive is situated in
the accepted position range over the time position window time, the bit target reached (bit 10)
in the statusword shall be set to 1.

accepted position range

position
position window position window

position not reached position reached position not reached

target position

Figure 34 – Position reached (definitions)

Figure 35 shows the definitions of the sub-function following error in the profile position mode.
A window is defined for the accepted following error tolerance symmetrically around the
reference position. If a drive is situated out of the accepted position range for more than
following error time out time, the bit following error (bit 13) in the statusword shall be set to 1.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

accepted following
error tolerance

following error following error

window window

following error no following error following error

reference position

Figure 35 – Following error (definitions)

12.3 Detailed object definitions

12.3.1 Object 6062 h : Position demand value

This object shall provide the demanded position value. The value shall be given in user-
defined position units. Table 130 specifies the object description, and Table 131 specifies the
entry description.

Table 130 – Object description

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Attribute Value
Index 6062 h
Name Position demand value
Object Code Variable
Data Type Integer32
Category Optional

Table 131 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

12.3.2 Object 6063 h : Position actual internal value

This object shall provide the actual value of the position measurement device, which shall be
one of the two input values of the closed-loop position control. If necessary, the data unit may
be transformed from user-defined units to increments. The value shall be given in internal
units. Table 132 specifies the object description, and Table 133 specifies the entry
description.

Copyright International Electrotechnical Commission

Table 132 – Object description

Attribute Value
Index 6063 h
Name Position actual internal value
Object Code Variable

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Data Type Integer32
Category Optional

Table 133 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

12.3.3 Object 6064 h : Position actual value

This object shall provide the actual value of the position measurement device. The value shall
be given in user-defined position units. Table 134 specifies the object description, and Table
135 specifies the entry description.

Table 134 – Object description

Attribute Value
Index 6064 h
Name Position actual value
Object Code Variable
Data Type Integer32
Category Mandatory if csp is supported

Table 135 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

12.3.4 Object 6065 h : Following error window

This object shall indicate the configured range of tolerated position values symmetrically to
the position demand value. If the position actual value is out of the following error window, a
following error occurs. A following error may occur when a drive is blocked, unreachable
profile velocity occurs, or at wrong closed-loop coefficients. The value shall be given in user-
defined position units. If the value of the following error window is FFFF FFFF h , the following

Copyright International Electrotechnical Commission

control shall be switched off. Table 136 specifies the object description, and Table 137
specifies the entry description.

Table 136 – Object description

Attribute Value
Index 6065 h
Name Following errror window
Object Code Variable
Data Type Unsigned32
Category Optional

Table 137 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

12.3.5 Object 6066 h : Following error time out

This object shall indicate the configured time for a following error condition, after that the bit
13 of the statusword shall be set to 1. The reaction of the drive when a following error occurs
is manufacturer-specific. The value shall be given in ms. Table 138 specifies the object
description, and Table 139 specifies the entry description.

Table 138 – Object description

Attribute Value
Index 6066 h
Name Following errror time out
Object Code Variable
Data Type Unsigned16
Category Optional
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Table 139 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

Copyright International Electrotechnical Commission

12.3.6 Object 6067 h : Position window

This object shall indicate the configured symmetrical range of accepted positions relative to
the target position. If the actual value of the position encoder is within the position window,
this target position shall be regarded as having been reached. As the user mostly prefers to
specify the position window in his application in user-defined units, the value is transformed
into increments. The target position shall be handled in the same manner as in the trajectory
generator concerning limiting functions and transformation into internal machine units before
it may be used with this function. The value shall be given in user-defined position units. If the
value of the position window is FFFF FFFF h , the position window control shall be switched off.
Table 140 specifies the object description, and Table 141 specifies the entry description.

Table 140 – Object description

Attribute Value
Index 6067 h
Name Position window
Object Code Variable
Data Type Unsigned32
Category Optional

Table 141 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

12.3.7 Object 6068 h : Position window time

This object shall indicate the configured time, during which the actual position within the
position window is measured. The value shall be given in ms. Table 142 specifies the object
description, and Table 143 specifies the entry description.

Table 142 – Object description

Attribute Value
Index 6068 h
Name Position window time
Object Code Variable
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Data Type Unsigned16

Category Optional

Copyright International Electrotechnical Commission

Table 143 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

12.3.8 Object 60F4 h : Following error actual value

This object shall provide the actual value of the following error. The value shall be given in
user-defined position units. Table 144 specifies the object description, and Table 145
specifies the entry description.

Table 144 – Object description

Attribute Value
Index 60F4 h
Name Following errror actual value
Object Code Variable
Data Type Integer32
Category Optional

Table 145 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

PDO Mapping See IEC 61800-7-301

Value Range Integer32
Default Value No

12.3.9 Object 60FAh : Control effort

This object shall provide the control effort as the output of the position control loop. It is
particular to the position control function that the notation of the control effort is mode-
dependent and therefore not specified. The value shall be given in user-defefined velocity
units. Table 146 specifies the object description, and Table 147 specifies the entry
description.

Table 146 – Object description

Attribute Value
Index 60FA h
Name Control effort
Object Code Variable
Data Type Integer32
Category Optional

Copyright International Electrotechnical Commission

Table 147 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

12.3.10 Object 60FC h : Position demand internal value

This object shall provide the output of the trajectory generator in profile position mode. This
value shall be given in increments of the position encoder. Table 148 specifies the object
description, and Table 149 specifies the entry description.

Table 148 – Object description

Attribute Value
Index 60FC h
Name Position demand internal value
Object Code Variable
Data Type Integer32
Category Optional

Table 149 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

12.3.11 Object 60F2 h : Positioning option code

This object shall indicate the configured positioning behaviour as described by the profile
positioning mode or the interpolated positioning mode . Figure 36 shows the defined object
structure.

15 14 12 11 8 7 6 5 4 3 2 1 0
relative
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

ms reserved ip option reserved rro cio

option
MSB LSB

LEGEND ms = manufacturer-specific rro = request-response option cio = change

immediately option

Figure 36 – Object structure

The relative option bits shall control the behaviour of positioning tasks in detail when the
abs_rel bit (bit 6) of the controlword is set to 1 in pp mode. Table 150 shows the bit value
definitions.

Copyright International Electrotechnical Commission

Table 150 – Value definition for bit 0 and bit 1

Bit 1 Bit 0 Definition

0 0 Positioning moves shall be performed relative to the preceding (internal absolute) target position
(rsp. relative to 0 if there is no preceding target position) as described in 10.2
0 1 Positioning moves shall be performed relative to the actual position demand value (object
60FC h ) – output of the trajectory generator
1 0 Positioning moves shall be performed relative to the position actual value (object 6064 h )
1 1 Reserved

The change immediately option bits shall control the behaviour of positioning tasks in detail
when the change_set_immediately bit (bit 5) of the controlword is set to 1 in pp mode. Table
151 shows the bit value definitions.

Table 151 – Value definition for bit 2 and bit 3

Bit 3 Bit 2 Definition

0 0 The drive device shall readapt the actual motion to the new target position (considering
potentially changed profile velocity and accelerations etc.) immediately as described in 10.2
0 1 The actually performed positioning task shall be continued (without attempting to stop on target
position) and blended to the newly commanded task (considering potentially changed profile
velocity and accelerations etc.) when target position is touched
1 0 Reserved
1 1 Reserved

The request-response option bits shall allow the drive device to release the new_setpoint bit
(bit 4) of the controlword internally in order to avoid the need of setting this bit to 0 by the
control device in pp mode. After internally releasing the new_setpoint bit, the drive device
shall indicate the action to the control device by setting the setpoint_acknowledgement bit (bit
12) in the statusword to 0. Table 152 shows the bit value definitions.

Table 152 – Value definition for bit 4 and bit 5

Bit 5 Bit 4 Definition

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
0 0 The handshake as described in 10.2 shall be performed
0 1 The drive device shall release autonomously the new setpoint bit as soon as target is reached
1 0 The drive shall release autonomously the new setpoint bit as soon as able to accept new set-
point data
1 1 Reserved

The ip option bits are reserved for defining the interpolated position mode. When the
manufacturer-specific bit is set to 0, the function shall be not enabled; if it is set to 1, the
manufacturer-specific function shall be enabled. The other reserved bits shall be set to 0.

Table 153 specifies the object description, and Table 154 specifies the entry description.

Copyright International Electrotechnical Commission

Table 153 – Object description

Attribute Value
Index 60F2 h
Name Positioning option code
Object Code Variable
Data Type Unsigned16
Category Optional

Table 154 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 150, Table 151, Table 152
Default Value 0000 h

13 Interpolated position mode

13.1 General information

The interpolated position mode is used to control multiple coordinated axes or a single axis
with the need for time-interpolation of set-point data. The interpolated position mode normally
uses time synchronisation mechanisms for a time coordination of the related drive units.

The interpolation data record contains the interpolation data; the data type of the sub-indices
of this structure are manufacturer-specific.

For synchronous operation, the interpolation cycle time is defined by the object interpolation
time period. Time synchronisation may be done by network dependent mechanisms. Each
syncronisation cycle actuates the next data record if a valid data record is available.

For asynchronous operation, the interpolation time (for each time slice), may be included in
the interpolation data record. If this is so, then the units for the interpolation time are still
specified by the interpolation time index as for synchronous operation. The next data record
shall be actuated as soon as the interpolation time expires and a valid data record is
available.

The interpolated position mode allows the control deviced to transmit a stream of interpolation
data with either an implicit or explicit time reference to a drive unit. If the drive supports an
input buffer, the interpolation data may be sent in bursts rather than continuously in real time.
The maximum size of the input buffer may be read by the control device using the
interpolation data configuration. The actual buffer size may be both written and read by the
control device using the interpolation data configuration. The buffer size is the number of
interpolation data records which may be sent to a drive to fill the input buffer and it is not the
size in bytes. Drive devices without input buffer capabilities shall accept at least one
interpolation data item.

The interpolation data buffer may be implemented as a FIFO or a ring. The definition of a
valid data record for each type of buffer shall be as follows:

• For the FIFO implementation, a valid data record is one that has not been actuated yet.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

• For the Ring implementation, all data records within the actual buffer size are treated as
valid data records, so interpolation data will continue to be actuated while ip enable is
true.

The interpolation algorithm is defined in the interpolation sub mode select. Linear interpolation
is the default interpolation method. This requires only one interpolation data item to be
buffered for the calculation of the next demand value. For each interpolation cycle, the drive
shall calculate a position demand value by interpolating positions over a period of time.

Optionally the common limit functions for speed, acceleration and deceleration may be
applied to the interpolation data.

The placement of the scaling and limiting of the interpolation data record in Figure 37 is for
indication only. These functions may be performed during the input of the interpolation data
record.

Position range limit (607Bh)

Software position limit (607Dh)
Home offset (607Ch)

Interpolation data record (60C1h)

Limit
function Inter-
Input polated
Interpolation data Inter-
buffer position
configuration (60C4h) polation Position
[inc]
Interpolation submode selection (60C0 h) factor Multiplier demand
internal
Polarity (607Eh) value
(60FCh)
Profile velocity (6081 h) or
Profile
End velocity (6082h) velocity Position
or demand
Max motor speed (6080h) Limit End value
Minimum function velocity Trajectory (6062h)
Max profile velocity (607Fh) com- [inc/s]
parator Multiplier generator

Polarity (607Eh)

Profile acceleration (6083h)

Profile acceleration
Profile deceleration (6084h) or Profile deceleration
Quick stop deceleration (6085 h) Limit or Quick stop deceleration
[inc/s 2]
Max acceleration (60C5h) function
Max deceleration (60C6 h)
Quick stop option code (605A h)

Figure 37 – Interpolation controller

13.2 Functional description

13.2.1 General

The manufacturer specifies the way the drive device handles the next valid interpolation data
record. This may be in a way corresponding to the standard position mode, or might be a
more complex algorithm. The standard method is to apply the new data immediately, after the
next synchronisation signal in synchronous mode or after the previous interpolation time has
expired in asynchronous mode.

An input buffer for interpolation data records eases the data exchange between control device
and drive device. The real-time requirements to the network as well as to the drive device
decrease in this case, because an input buffer decouples the data processing in the drive
device from the data transmission on the network.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

13.2.2 Linear interpolated position mode with several axes

In order to follow a two- or more-dimensional curve through the space with a defined speed,
the control device calculates the different positions P i for each set of coordinates which shall
be reached at specified times t i .

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
For each set-point P i the control device shall calculate x i , yi. and t i . Each axis gets a set of
interpolation data records, which each axis shall process internally independent from the
other axes according to the chosen interpolation mode. This is shown in Figure 38.

Y v
Pi = (xi, y i,t i)
P i+1 = (xi+1, y i+1,t i+1)

Δs(x,y)

Figure 38 – Interpolated position mode for two axes

In a centralised drive system with a remote motion device doing the interpolation calculation,
a central clocking scheme for synchronisation of the different axes. This results in a
movement depending on the calculation cycle time of the interpolation controller. The velocity
becomes more or less a fixed value for each axis. This is detailed in Table 155.

Table 155 – Position calculation in interpolated position mode for several axes

Calculated ip data records for

positions
x-axis y-axis z-axis
Pi xi , t i yi , t i zi , t i
Pi + 1 xi + 1, t i + 1 y i + 1, t i + 1 z i + 1, t i + 1
Pi + 2 xi + 2, t i + 2 y i + 2, t i + 2 z i + 2, t i + 2
… … … …
Pi + n xi + n, t i + n y i + n, t i + n z i + n, t i + n

In decentralised motion systems, the control device starts all relevant axes by changing the
mode-internal state to interpolation active after preparing and sending one or more
interpolation data records to all axes and synchronises them. Each axis calculates internally
and independently the necessary speed and acceleration needed to move from one position
to the next. This may be done by calculating a linear or any other move between two given
position set-points. Along this track, every axis controls the movement between the set-points
independently from the other axes. The axes may continue their movement, as long as there
is enough data to continue the calculations. Therefore it is easy to use the input buffer to give
data records ahead.

With this information, each axis may act as shown in Figure 39.

Copyright International Electrotechnical Commission

Position

given interpolation position

calculated position
position loop
sample period
Pi+3
Pi+2
Pi+1

Pi-1

t sync

t i-1 ti t i+1 t i+2 t i+3 Time

Figure 39 – Linear interpolation for one axis

NOTE In CANopen synchronous mode, the interpolation time is normally the same as the nominal period for the
sync signal.

13.2.3 Buffer strategies for the interpolated position mode

If a drive device provides an input buffer for interpolation data records, its size may be
organised by the control device using the interpolation data configuration. The control device
splits the available buffer capacity into pages which have the size of one interpolation data
record each. This is done by size of data record. If one page remains, which doesn’t keep one
complete data record, it may not be used. After the reorganisation of the input buffer, all
previous stored data will be lost. All devices supporting the interpolated position mode shall
implement an input buffer, which at least may keep one interpolation data record. The input
buffer organisation is specified in Figure 40.

The content of the buffer items may only be accessed via the interpolation data record.

Commonly, first-in-first-out (FIFO) structures or ring buffers are used as input buffers.

FIFO: If the buffer is organised as FIFO, every new received interpolation data record is
placed at the end of the queue, and the device takes the next data record from the top of the
queue. When the last item of a data record is stored, the buffer pointer is incremented in
order to point to the next buffer position. For this buffer principle, the object buffer position
does not have any influence.

Ring buffer: If the buffer is structured as a ring, the control device may place an interpolation
data record into any valid position in the ring by changing the pointer defined in buffer
position. Without changing the buffer position, all data records will be written at the same
location. The drive reads the next entry out of the buffer by an internal ring pointer. It is set to
the first data record with a clear buffer, and after the reorganisation of the input buffer.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

↑ parameter 1 ↑
parameter 2
data record size ip data record 1
:::::

↓ parameter n

↑ parameter 1
parameter 2
data record size ip data record 2
:::::
buffer size
↓ parameter n

:::::

↑ parameter 1
parameter 2
data record size ip data record i
:::::
↓ parameter n

not accessible ↓

Figure 40 – Input buffer organisation

Figure 41 shows the difference between a FIFO buffer and a Ring buffer. The ring buffer may
be used to achieve a periodic motion and all data records in the actual data buffer are
considered to be valid. If no new data is written to the FIFO, then the motion shall halt and
interpolation should become inactive at the last valid data point.

FIFO
Write Pointer Write Pointer Write Pointer
Data Data Data
Circular Buffer

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Read Pointer Read Pointer Read Pointer

Interpolated
Position Data
Time

Ring Write @ Buffer Pos

Circular Buffer Data Periodic Waveform (period based

on buffer size)
Read Pointer

Interpolated
Position Data
Time

Figure 41 – Input buffer examples

13.2.4 Interpolated position mode FSA

Figure 42 specifies the interpolated position mode FSA. It is a sub FSA of the Operation
enable state as shown in Figure 4.

Copyright International Electrotechnical Commission

4* 5*

16* 13
I II
Interpolation
inactive
III IV
Interpolation
active
11*
Operation enable*

* see power drive system FSA

Figure 42 – Interpolated position mode FSA

The FSA states shall support the functions as shown in Table 156.

Table 156 – FSA states and supported functions

FSA state Function

Interpolation inactive The drive device will accept input data and will buffer it
for interpolation calculations, but it does not move the
axis.
Interpolation active The drive unit will accept input data and it moves the
axis.

The drive device supporting the ip mode shall support the transitions and actions as given in
Table 157. The events shall initiate the transitions. The transition shall be terminated, after
the action has been performed.

Table 157 – Transition events and actions

Transition Event(s) Action(s)

I ip mode selected (see object 6060 h ) none
II ip mode not selected (see object 6060 h ) none
III Enable interpolation (bit 4 of the controlword is 1) none
IV Disable interpolation (bit 4 of the controlword is 0) none

13.3 General definitions

The output values provided by the interpolated position mode depend on the number and type
of interpolation functions implemented. For the predefined linear time interpolation, the output
is a position demand internal value.

13.4 Use of controlword and statusword

The interpolated position mode uses some bits of the controlword and the statusword for
mode-specific purposes. Figure 43 shows the structure of the controlword. Table 158 defines
the values for bit 4 and bit 8 of the controlword.

15 9 8 7 6 5 4 3 0
Enable
(see 8.4.1) Halt (see 8.4.1) reserved (0) (see 8.4.1)
interpolation
MSB LSB

Figure 43 – Controlword for interpolated position mode

– 100 – 61800-7-201 © IEC:2007(E)

Table 158 – Definition of bit 4 and bit 8

Bit Value Definition

4 0 Disable interpolation
1 Enable interpolation
8 0 Execute instruction of bit 4
1 Axis shall be stopped accordingly to halt option code
(605D h ), and bit 12 in the statusword shall be set to 0

Figure 44 shows the structure of the statusword. Table 159 defines the values for bit 10 and
bit 12 of the statusword. The target position reached bit shall remain 0 until all set-points are

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
processed.

15 14 13 12 11 10 9 0
Target
(see 8.4.2) reserved ip mode active (see 8.4.2) (see 8.4.2)
reached
MSB LSB

Figure 44 – Statusword for interpolated position mode

Table 159 – Definition of bit 10 and bit 12

Bit Value Definition

10 0 Target position not (yet) reached (if Halt bit in last controlword was 0) or axle
decelerates (if Halt bit in last controlword was 1)
1 Target position reached (if Halt bit in last controlword was 0) or axle has veloxity 0 (if
halt bit in last controlword was 1)
12 0 Interpolation inactive
1 Interpolation active

13.5 Detailed object definitions

13.5.1 Object 60C0 h : Interpolation sub mode select

This object shall indicate the actually chosen interpolation mode. If linear interpolation is the
only algorithm avalaible, then it is not necessary to implement this object. If a manufacturer-
specific interpolation mode is selected, the corresponding interpolation data record shall be
implemented in the manufacturer-specific profile area of the object dictionary. If the linear
interpolation mode is selected, the interpolation data given in object 60C1 h shall be used.
Table 160 specifies the value definition, Table 161 specifies the object description, and Table
162 specifies the entry description.

Table 160 – Value definition

Value Definition
-32 768 to -1 Manufacturer-specific
0 Linear interpolation
+1 to +32 767 Reserved

Copyright International Electrotechnical Commission

Table 161 – Object description

Attribute Value
Index 60C0 h
Name Interpolation sub mode select
Object Code Variable
Data Type Integer16
Category Optional

Table 162 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 160
Default Value 0

13.5.2 Object 60C1 h : Interpolation data record

This object shall indicate data words, which are necessary to perform the interpolation

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
algorithm. The number N of data words in the record is defined by interpolation data
configuration. The interpretation of the data words in interpolation data record may vary with
the different possible interpolation modes as set by the interpolation sub mode select.

For the linear interpolation mode, each interpolation data record simply is regarded as a new
position set-point. To describe a cubic spline interpolation, four or more data words are
needed for the spline coefficients, and further interpolation parameters.

After the last item of an interpolation data record is written to the drive device’s input buffer,
the pointer of the buffer shall be automatically incremented to the next buffer position.

Table 163 specifies the object description, and Table 164 specifies the entry description.

Table 163 – Object description

Attribute Value
Index 60C1 h
Name Interpolated data record
Object Code Array
Data Type Integer32
Category Optional

Copyright International Electrotechnical Commission

Table 164 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 01 h to FE h
Default Value No

Sub-Index 01 h
Description 1st set-point
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

Sub-Index 02 h
Description 2nd set-point
Entry Category Optional
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific
to
Sub-Index FE h
Description 254th set-point
Entry Category Optional
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

13.5.3 Object 60C2 h : Interpolation time period

This object shall indicate the configured interpolation cycle time. The interpolation time period
(sub-index 01 h ) value shall be given in 10 (interpolation time index) s(econd). The interpolation
time index (sub-index 02 h ) shall be dimensionless.

Table 165 specifies the object description, and Table 166 specifies the entry description.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 165 – Object description

Attribute Value
Index 60C2 h
Name Interpolation time period
Object Code Record
Data Type Interpolation time period record (0080 h )
Category Conditional: mandatory if ip, csp, csv or cst
mode is supported
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Table 166 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description Interpolation time period value
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned8
Default Value 01 h

Sub-Index 02 h
Description Interpolation time index
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range -128 to +63
Default Value -3

13.5.4 Object 60C4 h : Interpolation data configuration

This object shall provide the maximum buffer size, shall indicate the configured buffer
organisation of interpolation data, and shall provide objects to define the size of the data
record and to clear the buffers. This object is used to enable the drive device to receive the
needed data in advance. It also is used to store the positions and further data sent by the
control device.

The value of sub-index 01 h shall be given in number of interpolation data records.

The value of sub-index 02 h shall be given in number of interpolation data records.

Copyright International Electrotechnical Commission

If sub-index 03 h is 00 h this shall indicate a FIFO buffer oganisation, if it is 01 h this shall

indicate a ring buffer organisation. All other values are reserved.

The value of sub-index 04 h shall be dimensionless indicating the next free buffer entry point.

The value of sub-index 05 h shall be given in byte.

If 00 h is written to sub-index 06 h this shall clear the buffer inputs, shall disable the access,
and shall clear all ip data records. If 01 h is written to sub-index 06 h , this enables access to
the input buffers. All other values are reserved.

Table 167 specifies the object description, and Table 168 specifies the entry description.

Table 167 – Object description

Attribute Value
Index 60C4 h
Name Interpolation data configuration
Object Code Record
Data Type Interpolation data configuration record (0081 h )
Category Optional

Table 168 – Entry description

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 07 h
Default Value 07 h

Sub-Index 01 h
Description Maximum buffer size
Entry Category Mandatory
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value No

Sub-Index 02 h
Description Actual buffer size
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value 0000 0000 h

Copyright International Electrotechnical Commission

Table 168 (continued)

Attribute Value
Sub-Index 03 h
Description Buffer organisation
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range 00 h or 01 h
Default Value 00 h

Sub-Index 04 h
Description Buffer position
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value 0000 h

Sub-Index 05 h
Description Size of data record
Entry Category Mandatory
Access wo
PDO Mapping See IEC 61800-7-301
Value Range 01 h to FE h
Default Value 01 h

Sub-Index 06 h
Description Buffer clear
Entry Category Mandatory
Access wo
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

PDO Mapping See IEC 61800-7-301

Value Range 00 h or 01 h
Default Value 00 h

14 Profile velocity mode

14.1 General information

The profile velocity mode covers the following sub-functions:

• Demand value input via trajectory generator

• Velocity capture using position sensor or velocity sensor
• Velocity control function with appropriate input and output signals
• Monitoring of the profile velocity using a window-function
• Monitoring of velocity actual value using a threshold

Copyright International Electrotechnical Commission

The operation of the reference value generator and its input parameters includes and are
described in Clause 10:

• Profile velocity
• Profile acceleration
• Profile deceleration
• Emergency stop
• Motion profile type

Various sensors may be used for velocity capture. In particular, the aim is that costs are
reduced and the drive power system is simplified by evaluating position and velocity using a
common sensor, such as is optional using a resolver or an encoder.

The velocity control function is not specified more precisely at this point, as it is highly
manufacturer-specific, but the format and maximum number of control coefficients are
established.

Monitoring functions for the velocity actual value provide status information for super-
ordinated systems.

14.2 Functional description

Figure 45 shows the defined structure of the profile velocity mode. The actual velocity may be
obtained through differentiation from the position encoder and is represented in position
encoder increments.

The target reached bit (bit 10) shall be set to 1 in the statusword when the difference between
the target velocity and the velocity actual value is within the velocity window longer than the
velocity window time.

As soon as the velocity actual value exceeds the velocity threshold longer than the velocity
threshold time, then bit 12 shall be set to 0 in the statusword. Below this threshold, the bit
shall be set to 1 and shall indicate that the axis is stationary.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Target velocity (60FFh) Limit

function

Velocity
limit Velocity
Max profile velocity (607Fh) demand
Max motor speed (6080h)
Minimum value
comparator (606Bh) Control
Multiplier
Trajectory effort
Profile acceleration (6083h)
Generator
Profile deceleration (6084h) Limit
Quick stop deceleration (6085h) function

Max acceleration (60C5h)

Max deceleration (60C6h)

Velocity
controller
Motion profile type (6086h)

Polarity (607Eh)

Sensor selection code (606Ah)

Velocity [inc/s]
Position actual value (6064h) Velocity
d/dt sensor
Velocity sensor actual value (6069h) selection
Polarity (607Eh) Velocity actual value (606Ch)
Multiplier

Figure 45 – Profile velocity mode

14.3 General definitions

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

The factors necessary for scaling have a linear relationship and therefore they are described
in the factor group. The polarity is described in the factor group as well.

14.4 Use of controlword and statusword

The profile velocity mode uses some bits of the controlword and the statusword for mode-
specific purposes. Figure 46 shows the structure of the controlword. Table 169 defines the
values for bit 8 of the controlword.

15 9 8 7 6 4 3 0
(see 8.4.1) Halt (see 8.4.1) reserved (see 8.4.1)
MSB LSB

Figure 46 – Controlword for profile velocity mode

Table 169 – Definition of bit 8

Bit Value Definition

8 0 The motion shall be executed or continued
1 Axis shall be stopped according to the halt option code (605D h )

Figure 47 shows the structure of the statusword. Table 170 defines the values for bit 10, 12,
and 13 of the statusword.

Copyright International Electrotechnical Commission

15 14 13 12 11 10 9 0
Target
(see 8.4.2) Max slippage error Speed (see 8.4.2) (see 8.4.2)
reached
MSB LSB

Figure 47 – Statusword for profile velocity mode

Table 170 – Definition of bit 10, bit 12, and bit 13

Bit Value Definition

10 0 Halt (Bit 8 in controlword) = 0: Target not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1 Halt (Bit 8 in controlword) = 0: Target reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
12 0 Speed is not equal 0
1 Speed is equal 0
13 0 Maximum slippage not reached
1 Maximum slippage reached

14.5 Detailed object definitions

14.5.1 Object 6069 h : Velocity sensor actual value

This object shall provide the value read from a velocity sensor. The value shall be given in
increments per second. Table 171 specifies the object description, and Table 172 specifies
the entry description.

Table 171 – Object description

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Attribute Value
Index 6069 h
Name Velocity sensor actual value
Object Code Variable
Data Type Integer32
Category Optional

Table 172 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

14.5.2 Object 606Ah : Sensor selection code

This object shall provide the source of the velocity sensor actual value. It determines whether
a differentiated position signal or the signal from a separate velocity sensor is evaluated.
Table 173 specifies the value definition, Table 174 specifies the object description, and Table
175 specifies the entry description.

Copyright International Electrotechnical Commission

Table 173 – Value definition

Value Definition
0000 h Actual velocity value from position encoder
0001 h Actual velocity value from velocity encoder
0002 h to 7FFF h Reserved
8000 h to FFFF h Manufacturer-specific

Table 174 – Object description

Attribute Value
Index 606A h
Name Sensor selection code
Object Code Variable
Data Type Integer16
Category Optional

Table 175 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See Table 173
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Default Value Manufacturer-specific

14.5.3 Object 606B h : Velocity demand value

This object shall provide the output value of the trajectory generator. The value shall be given
in the user-defined velocity units. Table 176 specifies the object description, and Table 177
specifies the entry description.

Table 176 – Object description

Attribute Value
Index 606B h
Name Velocity demand value
Object Code Variable
Data Type Integer32
Category Optional

Copyright International Electrotechnical Commission

Table 177 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

14.5.4 Object 606C h : Velocity actual value

This object shall provide the actual velocity value derived either from the velocity sensor or

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
the position sensor. The value shall be given in user-defined velocity units. Table 178
specifies the object description, and Table 179 specifies the entry description.

Table 178 – Object description

Attribute Value
Index 606C h
Name Velocity actual value
Object Code Variable
Data Type Integer32
Category Conditional: mandatory if pv or csv is supported

Table 179 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value No

14.5.5 Object 606D h : Velocity window

This object shall indicate the configured velocity window. The value shall be given in user-
defined velocity units. Table 180 specifies the object description, and Table 181 specifies the
entry description.

Table 180 – Object description

Attribute Value
Index 606D h
Name Velocity window
Object Code Variable
Data Type Unsigned16
Category Optional

Copyright International Electrotechnical Commission

Table 181 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

14.5.6 Object 606E h : Velocity window time

This object shall indicate the configured velocity window time. The value shall be given in
milliseconds. Table 182 specifies the object description, and Table 183 specifies the entry
description.

Table 182 – Object description

Attribute Value
Index 606E h
Name Velocity window time
Object Code Variable
Data Type Unsigned16
Category Optional

Table 183 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value 0000 h

14.5.7 Object 606F h : Velocity threshold

This object shall indicate the configured velocity threshold. The value shall be given in user-
defined velocity units. Table 184 specifies the object description, and Table 185 specifies the
entry description.

Table 184 – Object description

Attribute Value
Index 606F h
Name Velocity threshold
Object Code Variable
Data Type Unsigned16
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 185 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

14.5.8 Object 6070 h : Velocity threshold time

This object shall indicate the configured velocity threshold time. The value shall be given in
milliseconds. Table 186 specifies the object description, and Table 187 specifies the entry
description.

Table 186 – Object description

Attribute Value
Index 6070 h
Name Velocity threshold time
Object Code Variable
Data Type Unsigned16
Category Optional

Table 187 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

14.5.9 Object 60FF h : Target velocity

This object shall indicate the configured target velocity and shall be used as input for the
trajectory generator. The value shall be given in user-defined velocity units. Table 188
specifies the object description, and Table 189 specifies the entry description.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Table 188 – Object description

Attribute Value
Index 60FF h
Name Target velocity
Object Code Variable
Data Type Integer32
Category Conditional: mandatory if pv or csv is supported

Copyright International Electrotechnical Commission

Table 189 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

14.5.10 Object 60F8 h : Max slippage

This object shall indicate the configured maximal slippage of an asynchronous motor. When
the max slippage has been reached, the corresponding bit 13 max slippage error in the
statusword shall be set to 1. The reaction of the drive device, when the max slippage error
occurs, is manufacturer-specific. This value shall be given in user-defined units. Table 190
specifies the object description, and Table 191 specifies the entry description.

Table 190 – Object description

Attribute Value
Index 60F8 h
Name Max slippage
Object Code Variable
Data Type Integer32
Category Optional

Table 191 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value Manufacturer-specific

15 Profile torque mode

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

15.1 General information

The profile torque mode allows control device (i.e. closed-loop speed controller, open-loop
transmission force controller) to transmit the target torque value, which is processed via the
trajectory generator. The torque slope and torque profile type parameters are required.

15.2 Functional description

If the control device switches the controlword bit 8 (halt) from 0 to 1 or from 1 to 0, than the
trajectory generator ramps its control effort output down to zero, respectively up to the target
torque. In both cases, the trajectory generator takes the torque slope and torque profile type
into consideration.

Copyright International Electrotechnical Commission

All definitions refer to rotating motors. Using linear motors instead requires that all "torque"
objects refer to a "force" instead. For the sake of simplicity, the objects are not duplicated and
their names are not modified. As an example, the linear motor target force is transmitted
using the target torque object. Refer to the object descriptions for additional information.

The manufacturer-specific torque control and power-stage functions are not described as they
fall beyond the scope of this drive profile specification. They are only mentioned for showing
how some parameters affect them. As an example, the closed-loop torque control coefficients
(if any) are to be defined and described by the manufacturer.

The torque control parameters, power stage parameters and motor parameters are defined as
objects in order that they may be handled (i.e. downloaded) in a standard way. Their detailed
data definition is manufacturer-specific.

The torque demand, torque actual value, current actual value and DC link voltage are
available to the user as parameters, if they are monitored.

Figure 48 shows the defined structure of the profile torque mode.

Target torque (6071h)

Target slope (6087h)

Torque demand (6074h)
Torque profile type (6088h) Trajectory
generator
Controlword (6040h)
Max torque (6072 h)
Torque
control
Max current (6073h)
and Motor
Motor rated torque (6076h) power
Motor rated current (6075h)
stage

Torque actual value (6077 h)

Current actual value (6078 h)

DC link voltage (6079h)

Figure 48 – Structure of the profile torque mode

15.3 General definitions

There are no general definitions given for the profile torque mode.

15.4 Use of controlword and statusword

The profile torque mode uses some bits of the controlword and the statusword for mode-
specific purposes. Figure 49 shows the structure of the controlword. Table 192 defines the
values for bit 8 of the controlword.

15 9 8 7 6 4 3 0
(see 8.4.1) Halt (see 8.4.1) reserved (see 8.4.1)
MSB LSB

Figure 49 – Controlword for profile torque mode

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 192 – Definition of bit 8

Bit Value Definition

8 0 The motion shall be executed or continued
1 Axis shall be stopped according to the halt option code (605D h )

Figure 50 shows the structure of the statusword. Table 193 defines the values for bit 10 of the
statusword.

15 14 13 12 11 10 9 0
(see 8.4.2) reserved (see 8.4.2) Target reached (see 8.4.2)
MSB LSB

Figure 50 – Statusword for profile torque mode

Table 193 – Definition of bit 10

Bit Value Definition

10 0 Halt (Bit 8 in controlword) = 0: Target torque not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1 Halt (Bit 8 in controlword) = 0: Target torque reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0

NOTE Target torque reached is defined by a manufacturer-specific time or window object.

15.5 Detailed object definitions

15.5.1 Object 6071 h : Target torque

This object shall indicate the configured input value for the torque controller in profile torque
mode. The value shall be given per thousand of rated torque. Table 194 specifies the object
description, and Table 195 specifies the entry description.

Table 194 – Object description

Attribute Value
Index 6071 h
Name Target torque
Object Code Variable
Data Type Integer16
Category Conditional: mandatory if tq or cst is supported

Table 195 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Value Range Integer16

Default Value 0000 h

Copyright International Electrotechnical Commission

15.5.2 Object 6072 h : Max torque

This object shall indicate the configured maximum permissible torque in the motor. The value
shall be given per thousand of rated torque. Table 196 specifies the object description, and
Table 197 specifies the entry description.

Table 196 – Object description

Attribute Value
Index 6072 h
Name Max torque
Object Code Variable
Data Type Unsigned16
Category Optional

Table 197 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

15.5.3 Object 6073 h : Max current

This object shall indicate the configured maximum permissible torque creating current in the
motor. The value shall be given per thousand of rated current. Table 198 specifies the object
description, and Table 199 specifies the entry description.

Table 198 – Object description

Attribute Value
Index 6073 h
Name Max current
Object Code Variable
Data Type Unsigned16
Category Optional

Table 199 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

15.5.4 Object 6074 h : Torque demand

This object shall provide the output value of the trajectory generator. The value shall be given
in 1/1 000 of rated torque. Table 200 specifies the object description, and Table 201 specifies
the entry description.

Table 200 – Object description

Attribute Value
Index 6074 h
Name Torque demand

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Object Code Variable
Data Type Integer16
Category Optional

Table 201 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value No

15.5.5 Object 6075 h : Motor rated current

This object shall indicate the configured motor rated current. It is taken from the motor’s
name-plate. Depending on the motor and drive technology, this current is DC, peak or r.m.s.
(root-mean-square) current. All relative current data refers to this value. The value shall be
given in mA. Table 202 specifies the object description, and Table 203 specifies the entry
description.

Table 202 – Object description

Attribute Value
Index 6075 h
Name Motor rated current
Object Code Variable
Data Type Unsigned32
Category Optional

Table 203 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Copyright International Electrotechnical Commission

15.5.6 Object 6076 h : Motor rated torque

This object shall indicate the configured motor rated torque. It is taken from the motor’s name-
plate. All relative torque data shall refer to this value. For linear motors, the object name is
not changed, but the motor rated force value shall be entered as multiples of mN (milli
Newton). The value shall be given in mNm (milli Newton metre). Table 204 specifies the
object description, and Table 205 specifies the entry description.

Table 204 – Object description

Attribute Value
Index 6076 h
Name Motor rated torque
Object Code Variable
Data Type Unsigned32
Category Optional

Table 205 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

15.5.7 Object 6077 h : Torque actual value

This object shall provide the actual value of the torque. It shall correspond to the
instantaneous torque in the motor. The value shall be given per thousand of rated torque.
Table 206 specifies the object description, and Table 207 specifies the entry description.

Table 206 – Object description

Attribute Value
Index 6077 h
Name Torque actual value
Object Code Variable
Data Type Integer16
Category Conditional: mandatory if cst is supported

Table 207 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value No

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

15.5.8 Object 6078 h : Current actual value

This object shall provide the actual value of the current. It shall correspond to the current in
the motor. The value shall be given per thousand of rated current. Table 208 specifies the
object description, and Table 209 specifies the entry description.

Table 208 – Object description

Attribute Value
Index 6078 h
Name Current actual value
Object Code Variable
Data Type Integer16
Category Optional

Table 209 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value No

15.5.9 Object 6079 h : DC link circuit voltage

This object shall provide the instantaneous DC link current voltage at the drive device. The
value shall be given in mV. Table 210 specifies the object description, and Table 211
specifies the entry description.

Table 210 – Object description

Attribute Value
Index 6079 h
Name DC link circuit voltage
Object Code Variable
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Data Type Unsigned32

Category Optional

Table 211 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value No

Copyright International Electrotechnical Commission

15.5.10 Object 6087 h : Torque slope

This object shall indicate the configured rate of change of torque. The value shall be given in
units of per thousand of rated torque per second. Table 212 specifies the object description,
and Table 213 specifies the entry description.

Table 212 – Object description

Attribute Value
Index 6087 h
Name Torque slope
Object Code Variable
Data Type Unsigned32
Category Conditional: mandatory if tq is supported

Table 213 – Entry description

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

15.5.11 Object 6088 h : Torque profile type

This object shall indicate the configured type of profile used to perform a torque change.
Table 214 specifies the value definition, Table 215 specifies the object description, and
Table 216 specifies the entry description.

Table 214 – Value definition

Value Definition
0000 h Linear ramp (trapezoidal profile)
0001 h sin 2 ramp
0002 h to 7FFF h Reserved
8000 h to FFFF h Manfacturer-specific

Table 215 – Object description

Attribute Value
Index 6088 h
Name Torque profile type
Object Code Variable
Data Type Integer16
Category Optional

Copyright International Electrotechnical Commission

Table 216 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value 0000 h

16 Velocity mode

16.1 General information

This mode is used by frequency inverters, but not limited to this kind of drive device. Most
applications use a velocity set-point and a controlword for switching the drive device on and
off.

Figure 51 shows the overall structure of the velocity mode. The possible torque control
function is not in the scope of this part of the IEC 61800-7 series, it may use the target torque
and torque actual value objects defined in 15.5.1 or respectively in 15.5.7.

statusword bit 11 (internal limit active)

vl target velocity (6042 h )

vl set-point factor (604B h ) Factor
vl dimension factor (604C h ) function Velocity
vl set-point
limit factor (604B h )
vl velocity min/max amount (6046 h ) function vl dimension
vl dimension factor (604C h ) factor (604C h ) vl velocity
Reverse actual
vl velocity acceleration (6048 h )
factor value
Velocity function (6044 h )
vl velocity deceleration (6049 h ) Ramp
control
vl velocity quick stop (604A h ) function
function
vl dimension factor (604C h )

controlword bit 4 (enable ramp)

controlword bit 5 (unlock ramp) vl velocity
demand
controlword bit 6 (reference ramp) vl set-point Reverse (6043 )
h
controlword bit 8 (halt) factor (604B h ) factor
vl dimension function
Velocity factor (604C h )
control
function

Figure 51 – Velocity mode with all objects

All drive devices using this profile and supporting the velocity mode shall implement the
mandatory objects and there functionality as shown in Figure 52.

vl target velocity (6042h) Statusword bit 11

Velocity
vl velocity min/max amount (6046h) limit
function vl demand vl velocity actual
vl velocity acceleration (6048h) value (6043h) Velocity
Ramp value (6044h)
control
vl velocity deceleration (6049h) function
function

Figure 52 – Velocity mode with mandatory objects only

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

16.2 Functional description

16.2.1 Velocity limit function

The limits in the velocity limit function may be given in user-specific units by including the vl
dimension factor in the velocity limit or in rotations per minute (rpm). The limit-value message
is generated if the input value of the speed limit results in a value outside the speed limit’s
operating range. The limit-value message is mapped as one bit in the statusword.

16.2.2 Ramp function

Figure 53 shows the velocity profile that is used to limit the increase and decrease of velocity.
The velocity output is equal to the input as long as the changes are below as defined in vl
velocity acceleration, vl velocity deceleration, and vl velocity quickstop.
velocity.in

t
velocity.out

t
velocity

acceleration at limit

Figure 53 – Velocity profile

16.2.3 Velocity control function

On the basis of the vl velocity demand, the velocity control function provides the vl control-
effort.

16.2.4 Factor function

The factor function multiplies the input variables by the assigned factors. The factor shall
have a value of 1, if it is not implemented.

Figure 54 shows the structure of the factor function; the factor function for two factors is built
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

of two functions in series connection.

input
DIV
xxx_numerator

MUL output
xxx_denominator

Figure 54 – Factor function

Copyright International Electrotechnical Commission

Figure 55 shows the structure of the reverse factor function. The reverse factor function
divides the input variables by the assigned factors.

input
MUL
xxx_numerator

DIV output
xxx_denominator

Figure 55 – Reverse factor function

16.3 General definitions

All objects defined in 16.5 are used only for the velocity mode.

16.4 Use of controlword and statusword

The velocity mode uses some bits of the controlword and the statusword for mode-specific
purposes. Figure 56 shows the structure of the controlword. Table 217 and Figure 57 define
the values for bit 4, bit 5, bit 6, and bit 8 of the controlword. These bits are optional.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
15 9 8 7 6 5 4 3 0
reference unlock enable
(see 8.4.1) Halt (see 8.4.1) (see 8.4.1)
ramp ramp ramp
MSB LSB

Figure 56 – Controlword for profile velocity mode

Table 217 – Definition of bit 4, bit 5, bit 6, and bit 8

Bit Value Definition

4 0 Velocity demand value shall be controlled in any other (manufacturer-specific) way, for
example by a test function generator or manufacturer-specific halt function
1 Velocity demand value shall accord with ramp output value
5 0 Ramp output value shall be locked to current output value
1 Ramp output value shall follow ramp input value
6 0 Ramp input value shall be set to zero
1 Ramp input value shall accord with ramp reference
8 0 No command
1 Motor shall be stopped

Copyright International Electrotechnical Commission

Run ramp
Bit 5
function
generator

0
Lock
Bit 6
Limit function output
Bit 4
1 Ramp input value Ramp Ramp output value
function
0 0
generator 1 Velocity demand
Special 0
function
generator

Figure 57 – Usage of controlword bits in velocity mode

Figure 58 shows the structure of the statusword.

15 14 13 12 11 10 9 0
(see 8.4.2) reserved (0) (see 8.4.2) reserved (0) (see 8.4.2)
MSB LSB

Figure 58 – Statusword for profile velocity mode

16.5 Detailed object definitions

16.5.1 Object 6042 h : vl target velocity

This object shall indicate the required velocity of the system. It shall be multiplied by the vl
dimension factor and the vl set-point factor, if these are implemented. The value shall be
given in user-defined velocity units or in revolutions per minute (rpm), if the vl dimension
factor and the vl set-point factor are not implemented or have the value 1. Positive values
shall indicate forward direction and negative values shall indicate reverse direction. Table 218
specifies the object description, and Table 219 specifies the entry description.

Table 218 – Object description

Attribute Value
Index 6042 h
Name vl target velocity
Object Code Variable
Data Type Integer16
Category Conditional: mandatory if vl is supported

Table 219 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value 0000 h
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

16.5.2 Object 6043 h : vl velocity demand

This object shall provide the instantaneous velocity generated by the ramp function. It is an
internal object of the drive device. The value shall be given in the very same unit as the vl
target velocity. Positive values shall indicate forward direction and negative values shall
indicate reverse direction. Table 220 specifies the object description, and Table 221 specifies
the entry description.

Table 220 – Object description

Attribute Value
Index 6043 h
Name vl velocity demand
Object Code Variable
Data Type Integer16
Category Conditional: mandatory if vl is supported

Table 221 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value No

16.5.3 Object 6044 h : vl velocity actual value

This object shall provide the velocity at the motor spindle or load. Depending on the
implementation (simple drive device, without sensor, with sensor, etc.), the drive shall provide
the appropriate image of the actual velocity (velocity demand, velocity control effort,
calculated velocity, measured velocity).

The value shall be given in the very same unit as the vl target velocity. Positive values shall
indicate forward direction and negative values shall indicate reverse direction. Table 222
specifies the object description, and Table 223 specifies the entry description.

Table 222 – Object description

Attribute Value
Index 6044 h
Name vl velocity actual value
Object Code Variable
Data Type Integer16
Category Conditional: mandatory, if vl is supported

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 223 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value No

16.5.4 Object 6046 h : vl velocity min max amount

This object shall indicate the configured minimum and maximum amount of velocity. The vl
velocity max amount sub-object shall be mapped internally to the vl velocity max pos and vl
velocity max neg values. The vl velocity min amount sub-object shall be mapped internally to
the vl velocity min pos and vl velocity min neg values.

This transfer characteristic is shown in Figure 59.

output

+vl_velocity_motor_max_amount

+vl_velocity_motor_min_amount

0
input
-vl_velocity_motor_min_amount

-vl_velocity_motor_max_amount

Figure 59 – Transfer characteristic of vl velocity min max amount

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
The values shall be given in rotations per minute (rpm) or in user-defined velocity unit if the vl
dimension factor object is implemented and is not set to 1. Table 224 specifies the object
description, and

Table 225 specifies the entry description.

Table 224 – Object description

Attribute Value
Index 6046 h
Name vl velocity min max amount
Object Code Array
Data Type Unsigned32
Category Conditional: mandatory if vl mode is supported

Copyright International Electrotechnical Commission

Table 225 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Sub-Index 01 h
Description vl velocity min amount
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Sub-Index 02 h
Description vl velocity max amount
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

16.5.5 Object 6049 h : vl velocity deceleration

This object shall indicate the configured delta speed and delta time of the slope of the
deceleration ramp as shown in Figure 60.

delta speed
vl velocity deceleration =
delta time
velocity

delta_speed

delta_time

time

Figure 60 – Transfer characteristic of the velocity deceleration

The value of delta speed shall be given in rotations per minute (rpm) or in a user-defined
velocity unit if the vl dimension factor object is implemented and is not set to 1; the value of
delta time shall be given in s. Table 226 specifies the object description, and Table 227

Copyright International Electrotechnical Commission

specifies the entry description. If this object is not implemented, the value in object 6048 h
shall be used for vl velocity deceleration .

Table 226 – Object description

Attribute Value
Index 6049 h
Name vl velocity deceleration
Object Code Record
Data Type vl velocity acceleration decelaration
Category Conditional: optional

Table 227 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description Delta speed
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Sub-Index 02 h
Description Delta time
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

16.5.6 Object 6048 h : vl velocity acceleration

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

This object shall indicate the configured delta speed and delta time of the slope of the
acceleration ramp as shown in Figure 61.

Example: If you ramp to 1 500 rpm in 3,7 s, the delta speed equals to 15 000 rpm and delta
time equals to 37 s.

Copyright International Electrotechnical Commission

delta speed
vl velocity acceleration =
delta time

velocity

delta_speed
delta_time

time

Figure 61 – Transfer characteristic of the velocity acceleration

Table 228 – Object description

Attribute Value
Index 6048 h
Name vl velocity acceleration
Object Code Record
Data Type vl velocity acceleration decelaration
Category Conditional: mandatory if vl is supported

Table 229 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description Delta speed
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 229 (continued)

Attribute Value
Sub-Index 02 h
Description Delta time
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

16.5.7 Object 604Ah : vl velocity quick stop

This object shall indicate the configured delta speed and delta time of the slope of the
deceleration ramp for quick stop as shown in Figure 62.

delta speed
velocity quick stop =
delta time
velocity

delta_speed

delta_time

time

Figure 62 – Transfer characteristic of the quick stop deceleration

Table 230 – Object description

Attribute Value
Index 604A h
Name vl velocity quick stop
Object Code Record
Data Type vl velocity acceleration decelaration
Category Conditional: optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 231 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description Delta speed
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value Manufacturer-specific

Sub-Index 02 h
Description Delta time
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned16
Default Value Manufacturer-specific

16.5.8 Object 604B h : vl set-point factor

This object shall indicate the configured numerator and denominator of the vl set-point factor.
The vl set-point factor serves to modify the resolution or directing range of the specified set-
point. It is aso included in calculation of the vl velocity demand, and vl velocity actual value. It
does not influence the velocity limit function and the ramp function. The value shall have no
physical unit and shall be given in the range from -32 768 to +32 767, but the value of 0 shall
not be used. Table 232 specifies the object description, and Table 233 specifies the entry
description.

Table 232 – Object description

Attribute Value
Index 604B h
Name vl set-point factor
Object Code Array
Data Type Integer16
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 233 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description vl set-point factor numerator
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See value definition
Default Value +1

Sub-Index 02 h
Description vl set-point factor denominator
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See value definition
Default Value +1

16.5.9 Object 604C h : vl dimension factor

This object shall indicate the configured numerator and denominator of the vl dimension
factor. The vl dimension factor serves to include gearing in calculation or serves to scale the
frequencies or specific units of the user. It influences the vl target velocity, vl velocity
demand, vl velocity actual value as well as the velocity limit function and the ramp function.

Calculating the vl dimension factor: Every user-specific velocity consists of a specific unit
referred to a specific unit of time (e.g. 1/s, bottles/min, m/s, etc.). The purpose of the vl
dimension factor is to convert this specific unit to the revolutions/minute unit.

Velocity [user-defined unit] × Dimension factor [rpm/user-defined unit] = Velocity [rpm]

The values shall be in the range of -2 147 483 648 to +2 147 483 647, but the value of 0 shall
be not used.

Table 234 specifies the object description, and Table 235 specifies the entry description.

Example: If the target unit is 0,1 Hz the numerator is 120 and the denominator is the pole
number.
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,

Copyright International Electrotechnical Commission

Table 234 – Object description

Attribute Value
Index 604C h
Name vl dimension factor
Object Code Array
Data Type Integer32
Category Optional

Table 235 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h
Default Value 02 h

Sub-Index 01 h
Description vl dimension factor numerator
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See value definition
Default Value +1

Sub-Index 02 h
Description vl dimension factor denominator
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range See value definition
Default Value +1

17 Cyclic synchronous position mode

17.1 General information

The overall structure for this mode is shown in Figure 63. With this mode, the trajectory
generator is located in the control device, not in the drive device. In cyclic synchronous
manner, it provides a target position to the drive device, which performs position control,
velocity control and torque control. Optionally, additive velocity and torque values can be
provided by the control system in order to allow for velocity and/or torque feedforward.
Measured by sensors, the drive device may provide actual values for position, velocity and
torque to the control device.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

The behavior of the control function is influenced by control parameters like limit functions,
which are externally applicable. The drive internal control function is not specified more
precisely in this part of the IEC 618700-7 series as it is highly manufacturer specific, but the
format and content of the control parameters are provided.

Torque offset (60B2 h)

Velocity offset (60B1 h)

Position offset (60B0 h)

+ + +
Target + Position + Velocity + Torque
position M
control control control
(607A h)

S
Torque actual value
(6077h)
Velocity actual value
(606Ch)
Position actual value
(6064h)

Figure 63 – Cyclic synchronous position mode overview

17.2 Functional description

Figure 64 shows the inputs and outputs of the drive control function. The input values (from
the control function point of view) are the target position and optionally a position offset (to be
added to the target position to allow two instances to set up the position) as well as an
optional velocity offset and an optional torque offset used for feedforward control. Especially
in cascaded control structures, where a position control is followed by a velocity or torque
control, the output of the position control loop is used as an input for a further calculation in
the drive device. Limit functions may be used to restrict the range of values to avoid
unintended positions.

The drive device monitors the following error. Other features specified in this mode are
limitation of motor speed and a quick stop function for emergency reasons. The torque may
--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

be limited as well.

The interpolation time period defines the time period between two updates of the target
position and/or additive position and shall be used for intercycle interpolation.

The target position shall be interpreted as absolute value.

The position actual value is used as mandatory output to the control device. Further outputs
may be the velocity actual value, torque actual value and the velocity sensor actual value.
The following error actual value may be used as an additional parameter.

Copyright International Electrotechnical Commission

Target Position (607Ah)

+
Limit
Multiplier Position actual
function
Position offset (60B0h) + value (6064h)
Position range limit (607Bh)
Polarity (607Eh)
Software position limit (607Dh)
Following error window (6065h) Following error
Following error time out (6066 h) [ms] actual value
(60F4h)
Max motor speed (6080h)
Multiplier
Velocity actual
Velocity offset (60B1 h) Polarity (607Eh) Drive value (606Ch)

Quick-stop deceleration (6085h) control

Quick-stop option code (605Ah) function Velocity sensor
Motion profile type (6086h) actual value
Interpolation time period (60C2 h) (6069h)

Torque offset (60B2 h)

Multiplier Torque actual
value (6077h)
Motor rated torque (6076h)
Max torque (6072 h)
Multiplier

Motor rated torque (6076h)

Figure 64 – Cyclic synchronous position control function

All values are transformed – if necessary – from user-defined units to normalised units such
as increments with the functions described in Clause 9.

A target position value or position offset outside the allowed range of the following error
window around a position demand value for longer than the following error time out shall

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
result in setting bit 13 ( following error ) in the statusword to 1.

17.3 Use of controlword and statusword

The cyclic synchrounous position mode uses no mode specific bits of the controlword and
three bits of the statusword for mode-specific purposes. Figure 65 shows the structure of the
statusword. Table 236 defines the values for bit 10, 12, and 13 of the statusword.

15 14 13 12 11 10 9 0
Target
(see 8.4.2) Following error position (see 8.4.2) reserved (see 8.4.2)
ignored
MSB LSB

Figure 65 – Statusword for profile cyclic synchronous position mode

Table 236 – Definition of bit 10, bit 12, and bit 13

Bit Value Definition

10 0 Reserved
1 Reserved
12 0 Target position ignored
1 Target position shall be used as input to position control loop
13 0 No following error
1 Following error

Copyright International Electrotechnical Commission

17.4 Detailed object definitions

17.4.1 Object 60B0 h : Position offset

This object shall provide the offset of the target position. The offset shall be given in user-
defined position units.

NOTE The value itself is absolute and thus independent of how often it is transmitted over the communication
system, for example, transmitted twice does not mean double value. Since the additive position value represents
an offset to the target position, it can be also used to control the drive with relative values with regard to the target
position.

Table 237 specifies the object description, and Table 238 specifies the entry description.

Table 237 – Object description

Attribute Value
Index 60B0 h
Name Position offset
Object Code Variable
Data Type Integer32
Category Optional

Table 238 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value 0

17.4.2 Object 60B1 h : Velocity offset

This object shall provide the offset for the velocity value. The offset shall be given in user-
defined velocity units. In cyclic synchronous position mode, this object contains the input
value for velocity feed forward. In cyclic synchronous velocity mode (see Clause 18), it
contains the commanded offset of the drive device.

NOTE The value itself is absolute and thus independent of how often it is transmitted over the communication
system, for example transmitted twice does not mean double value. Since the additive velocity value represents an
offset to the target velocity, it can be also used to control the drive with relative values with regard to the target
velocity.

Table 239 specifies the object description, and Table 240 specifies the entry description.

Table 239 – Object description

Attribute Value
Index 60B1 h
Name Velocity offset
Object Code Variable
Data Type Integer32
Category Optional

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 240 – Entry description

Attribute Value
Sub-Index 00 h
Access Rw
PDO Mapping See IEC 61800-7-301
Value Range Integer32
Default Value 0

17.4.3 Object 60B2 h : Torque offset

This object shall provide the offset for the torque value. The offset shall be given in per
thousand rated torque. In cyclic synchronous position mode and cyclic synchronous velocity
mode (see Clause 18), this object contains the input value for torque feed forward. In cyclic
synchronous torque mode (see Clause 18) it contains the commanded additive torque of the
drive, which is added to the target torque value.

NOTE The value itself is absolute and thus independent of how often it is transmitted over the communication
system, for example transmitted twice does not mean double value.

Table 241 specifies the object description, and Table 242 specifies the entry description.

Table 241 – Object description

Attribute Value
Index 60B2 h
Name Torque offset
Object Code Variable
Data Type Integer16
Category Optional

Table 242 – Entry description

Attribute Value
Sub-Index 00 h
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Integer16
Default Value 0

18 Cyclic synchronous velocity mode

18.1 General information

The overall structure for this mode is shown in Figure 66. With this mode, the trajectory
generator is located in the control device, not in the drive device. In cyclic synchronous
manner, it provides a target velocity to the drive device, which performs velocity control and
torque control. If desired, the position control loop may be closed over the communication
system. Optionally, additive velocity and torque values may be provided by the control system
in order to allow a second source for velocity and/or a torque feed forward. Measured by

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

sensors, the drive device may provide actual values for position, velocity and torque to the
control device.

The cyclic synchronous velocity mode covers the following sub-functions:

• Demand value input

• Velocity capture using position sensor or velocity sensor
• Velocity control function with appropriate input and output signals
• Limitation of torque demand

The behavior of the control function is influenced by control parameters such as limit
functions, which are externally applicable. The drive internal control function is not specified
more precisely in this part of the IEC 61800-7 series, as it is highly manufacturer specific, but
the format and content of the control parameters are provided.

Offset torque
(60B2 h)
Offset velocity

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
(60B1 h) + +
Target + Velocity + Torque
velocity M
control control
(60FF h)

S
Torque actual value
(6077h)
Velocity actual value
(606Ch)
Position actual value
(6064h)

Figure 66 – Cyclic synchronous velocity mode overview

18.2 General definitions

The factors necessary for scaling have a linear relationship and therefore they are described
in the factor group. The polarity is described in the factor group as well.

18.3 Functional description

Figure 67 shows the inputs and outputs of the drive control function. The input (from the
control device point of view) are the target velocity and optionally, a velocity offset (to be
added to the target velocity to allow two instances to set up the velocity) as well as a torque
offset. Especially in cascaded control structures, where a velocity control is followed by a
torque control, the output of the velocity control loop is used as an input for a further
calculation in the drive device.

The drive device may support limitation of motor speed and a quick stop function for
emergency reasons. The torque may be limited as well.

The interpolation time period defines the time period between two updates of the target
velocity and/or additive velocity and shall be used for intercycle interpolation.

Copyright International Electrotechnical Commission

The velocity actual value is used as mandatory output to the control device. Further outputs
may be the torque actual value and the velocity sensor actual value.

Target velocity (60FFh)

Multiplier
Velocity offset (60B1 h) +

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
Polarity (607Eh)
Max motor speed (6080h)
Multiplier
Velocity actual
Velocity sensor actual value (6069 h) Polarity (607Eh) value (606Ch)
Quick-stop deceleration (6085h)
Drive
Quick-stop option code (605Ah)
control Velocity sensor
Motion profile type (6086h) actual value
function (6069h)
Interpolation time period (60C2 h)

Torque offset (60B2 h)

Multiplier Torque actual
value (6077h)
Motor rated torque (6076h)
Max torque (6072 h)
Multiplier

Motor rated torque (6076h)

Figure 67 – Cyclic synchronous velocity control function

All values are transformed – if necessary – from user-defined units to normalised units such
as increments with the functions described in Clause 9.

18.4 Use of controlword and statusword

The cyclic synchronous velocity mode uses no mode specific bits of the controlword and some
bits of the statusword for mode-specific purposes. Figure 68 shows the structure of the
statusword. Table 243 defines the values for bit 10, 12, and 13 of the statusword.

15 14 13 12 11 10 9 0
Target
(see 8.4.2) reserved velocity (see 8.4.2) reserved (see 8.4.2)
ignored
MSB LSB

Figure 68 – Statusword for profile cyclic synchronous velocity mode

Table 243 – Definition of bit 10, bit 12, and bit 13

Bit Value Definition

10 0 Reserved
1 Reserved
12 0 Target velocity ignored
1 Target velocity shall be used as input to velocity control loop
13 0 Reserved
1 Reserved

Copyright International Electrotechnical Commission

19 Cyclic synchronous torque mode

19.1 General information

The overall structure for this mode is shown in Figure 69. With this mode, the trajectory
generator is located in the control device, not in the drive device. In cyclic synchronous
manner, it provides a target torque to the drive device, which performs torque control.
Optionally, an additive torque value can be provided by the control system in order to allow
two instances to set up the torque. Measured by sensors, the drive device may provide actual
values for position, velocity and torque to the control device.

The cyclic synchronous torque mode covers the following sub-functions:

• demand value input;

• torque capture;
• torque control function with appropriate input and output signals;
• limitation of torque demand.

The drive internal control function is not specified more precisely in this part of the
IEC 61800-7 series as it is highly manufacturer specific, but the format and content of the
control parameters are provided.

Offset torque
(60B2h)
+
Target + Torque
torque M
control
(6071h)

S
Torque actual value
(6077h)
Velocity actual value
(606Ch)
Position actual value
(6064h)

Figure 69 – Cyclic synchronous torque mode overview

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
19.2 General definitions

The factors necessary for scaling have a linear relationship and therefore they are described
in the factor group. The polarity is described in the factor group as well.

19.3 Functional description

Figure 70 shows the inputs and outputs of the torque control function. The input (from the
control function point of view) are the target torque and optionally a torque offset (to be added
to the target torque to allow two instances to set up the torque).

The drive device can have features for limitation of motor speed. The torque can be limited as
well.

The interpolation time period defines the time period between two updates of the target
velocity and/or additive velocity and shall be used for intercycle interpolation.

The torque actual value is used as mandatory output to the control device.

Copyright International Electrotechnical Commission

Target torque (6071h)

Multiplier
Torque offset (60B2 h) +
Motor rated torque (6076h)
Drive
Max motor speed (6080h) Torque actual
Multiplier
control value (6077h)

Interpolation time period (60C2 h) Polarity (607Eh) function

Max torque (6072 h)

Multiplier

Motor rated torque (6076h)

Figure 70 – Cyclic synchronous torque control function

19.4 Use of controlword and statusword

The cyclic synchronous torque mode uses no mode specific bits of the controlword and some
bits of the statusword for mode-specific purposes. Figure 71 shows the structure of the
statusword. Table 244 defines the values for bit 10, 12, and 13 of the statusword.

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---
15 14 13 12 11 10 9 0
Target
(see 8.4.2) reserved torque (see 8.4.2) reserved (see 8.4.2)
ignored
MSB LSB

Figure 71 – Statusword for profile cyclic synchronous torque mode

Table 244 – Definition of bit 10, bit 12, and bit 13

Bit Value Definition

10 0 Reserved
1 Reserved
12 0 Target torque ignored
1 Target torque shall be used as input to torque control loop
13 0 Reserved
1 Reserved

20 Optional application FE

20.1 General

The objects defined in this clause are used for the optional generic input/output FE.

20.2 Object 60FD h : Digital inputs

This object shall provide digital inputs. Figure 72 specifies the object structure.

Copyright International Electrotechnical Commission

31 16 15 4 3 2 1 0
Manufacturer-specific reserved interlock home switch positive limit switch negative limit switch
MSB LSB

Figure 72 – Object structure

Table 245 specifies the values.

Table 245 – Value definition

Value Definition
0b Switched off
1b Switched on

Table 246 specifies the object description, Table 247 specifies the entry description.

Table 246 – Object description

Attribute Value
Index 60FD h
Name Digital inputs
Object Code Variable
Data Type Unsigned32
Category Optional

Table 247 – Entry description

Attribute Value
Sub-Index 00 h
Access ro
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value 0000 0000 h

20.3 Object 60FE h : Digital outputs

This object shall command simple digital outputs. Figure 73 specifies the object structure.

31 16 15 1 0
Manufacturer-specific reserved set brake
MSB LSB

Figure 73 – Object structure

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Table 248 specifies the values.

Table 248 – Value definition

Value Definition for sub-index 01 h Definition for sub-index 02 h

0b Switch off/don’t set brake Disable output
1b Switch on/set brake Enable output

Table 249 specifies the object description, Table 250 specifies the entry description.

Table 249 – Object description

Attribute Value
Index 60FE h
Name Digital output
Object Code Array
Data Type Unsigned32
Category Optional

Table 250 – Entry description

Attribute Value
Sub-Index 00 h
Description Highest sub-index supported
Entry Category Mandatory
Access c
PDO Mapping See IEC 61800-7-301
Value Range 02 h or 02 h
Default Value Manufacturer-specific

Sub-Index 01 h
Description Physical outputs
Entry Category Mandatory
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value 0000 0000 h

Sub-Index 02 h
Description Bit mask
Entry Category Optional
Access rw
PDO Mapping See IEC 61800-7-301
Value Range Unsigned32
Default Value 0000 0000 h

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Bibliography

IEC 60050-351, International Electrotechnical Vocabulary – Part 351: Control technology 13

IEC 61499-1, Function blocks – Part 1: Architecture

IEC 61800 (all parts), Adjustable speed electrical power drive systems

IEC 61800-7-1, Adjustable speed electrical power drive systems – Part 7-1: Generic interface
and use of profiles for power drive systems – Interface definition

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 61800-7-302, 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/TS 61915, Low-voltage switchgear and controlgear – Principles for the development of
device profiles for networked industrial devices

IEC/TR 62390:2005, Common Automation Device – Profile Guideline

ISO/IEC 2382-15:1999, Information technology, Vocabulary – Part 15: Programming

languages

ISO/IEC 19501, Information technology – Open Distributed Processing – Unified Modeling

Language (UML) Version 1.4.2

ISO 15745-1:2003, Industrial automation systems and integration – Open systems application
integration framework – Part 1: Generic reference description

___________

___________
13 See also the IEC Multilingual Dictionary – Electricity, Electronics and Telecommunications.

Copyright International Electrotechnical Commission

3, rue de Varembé
P.O. Box 131
CH-1211 Geneva 20
Switzerland

Tel: + 41 22 919 02 11
Fax: + 41 22 919 03 00
info@iec.ch
www.iec.ch

--`,,``,,,`,,,,``,``,``,,`,,`,``-`-`,,`,,`,`,,`---

Copyright International Electrotechnical Commission

Provided by IHS under license with IEC Licensee=BP International/5928366101
No reproduction or networking permitted without license from IHS Not for Resale, 07/09/2008 15:53:28 MDT

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