BS EN 61800-7-302:2016 BSI Standards Publication Adjustable speed electrical power drive systems Part 7-302: Generic interface and use of profiles for power drive systems — Mapping of profile type to network technologies BRITISH STANDARD BS EN 61800-7-302:2016 National foreword This British Standard is the UK implementation of EN 61800-7-302:2016 It is identical to IEC 61800-7-302:2015 It supersedes BS EN 61800-7-302:2008, which will be withdrawn on 12 October 2018 The UK participation in its preparation was entrusted to Technical Committee PEL/22, Power electronics A list of organizations represented on this committee can be obtained on request to its secretary This publication does not purport to include all the necessary provisions of a contract Users are responsible for its correct application © The British Standards Institution 2016 Published by BSI Standards Limited 2016 ISBN 978 580 82133 ICS 29.200; 35.100.05 Compliance with a British Standard cannot confer immunity from legal obligations This British Standard was published under the authority of the Standards Policy and Strategy Committee on 29 February 2016 Amendments/corrigenda issued since publication Date Text affected BS EN 61800-7-302:2016 EUROPEAN STANDARD EN 61800-7-302 NORME EUROPÉENNE EUROPÄISCHE NORM February 2016 ICS 29.200; 35.100.05 Supersedes EN 61800-7-302:2008 English Version Adjustable speed electrical power drive systems Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type to network technologies (IEC 61800-7-302:2015) Entrnements électriques de puissance vitesse variable Partie 7-302: Interface générique et utilisation de profils pour les entrnements électriques de puissance - Mise en correspondance du profil de type avec les technologies de réseaux (IEC 61800-7-302:2015) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-302: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) Abbildung von Profil-Typ auf Netzwerktechnologien (IEC 61800-7-302:2015) This European Standard was approved by CENELEC on 2015-12-25 CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CENELEC member This European Standard exists in three official versions (English, French, German) A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom European Committee for Electrotechnical Standardization Comité Européen de Normalisation Electrotechnique Europäisches Komitee für Elektrotechnische Normung CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels © 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members Ref No EN 61800-7-302:2016 E BS EN 61800-7-302:2016 EN 61800-7-302:2016 European foreword The text of document 22G/312/FDIS, future edition of IEC 61800-7-302, prepared by SC 22G “Adjustable speed electric drive systems incorporating semiconductor power converters” of IEC/TC 22 “Power electronic systems and equipment" was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 61800-7-302:2016 The following dates are fixed: • latest date by which the document has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2016-09-25 • latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2018-12-25 This document supersedes EN 61800-7-302:2008 Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights CENELEC [and/or CEN] shall not be held responsible for identifying any or all such patent rights Endorsement notice The text of the International Standard IEC 61800-7-302:2015 was approved by CENELEC as a European Standard without any modification In the official version, for Bibliography, the following notes have to be added for the standards indicated: 1) IEC 61158-2:2014 NOTE Harmonized as EN 61158-2:2014 (not modified) IEC 61158-3-2:2014 NOTE Harmonized as EN 61158-3-2:2014 (not modified) IEC 61499-1:2005 NOTE Harmonized as EN 61499-1:2005 IEC 61784-1:2014 NOTE Harmonized as EN 61784-1:2014 (not modified) IEC 61784-2:2014 NOTE Harmonized as EN 61784-2:2014 (not modified) IEC 61800 Series NOTE Harmonized as EN 61800 Series IEC 61800-7 Series NOTE Harmonized as EN 61800-7 Series IEC 61800-7-1:2015 NOTE Harmonized as EN 61800-7-1:2016 (not modified) IEC 61800-7-201 NOTE Harmonized as EN 61800-7-201 IEC 61800-7-203 NOTE Harmonized as EN 61800-7-203 IEC 61800-7-204 NOTE Harmonized as EN 61800-7-204 IEC 61800-7-301 NOTE Harmonized as EN 61800-7-301 IEC 61800-7-303 NOTE Harmonized as EN 61800-7-303 IEC 61800-7-304 NOTE Harmonized as EN 61800-7-304 IEC 62026-3 NOTE Harmonized as EN 62026-3 Superseded by EN 61499-1:2013 (IEC 61499-1:2012) 1) (not modified) BS EN 61800-7-302:2016 EN 61800-7-302:2016 Annex ZA (normative) Normative references to international publications with their corresponding European publications The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application For dated references, only the edition cited applies For undated references, the latest edition of the referenced document (including any amendments) applies NOTE When an International Publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies NOTE Up-to-date information on the latest versions of the European Standards listed in this annex is available here: www.cenelec.eu Publication Year Title EN/HD Year IEC 61158-4-2 2014 Industrial communication networks Fieldbus specifications Part 4-2: Data-link layer protocol specification - Type elements EN 61158-4-2 2014 IEC 61158-5-2 2014 Industrial communication networks EN 61158-5-2 Fieldbus specifications Part 5-2: Application layer service definition - Type elements 2014 IEC 61158-6-2 2014 Industrial communication networks Fieldbus specifications Part 6-2: Application layer protocol specification - Type elements EN 61158-6-2 2014 IEC 61588 2009 Precision clock synchronization protocol for networked measurement and control systems - - 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 specification EN 61800-7-202 - –2– BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 CONTENTS FOREWORD INTRODUCTION 0.1 General 0.2 Patent declaration Scope 11 Normative references 11 Terms, definitions and abbreviated terms 11 3.1 Terms and definitions 11 3.2 Abbreviated terms 18 Principles for mapping CIP Motion™ 19 4.1 General principles for mapping CIP Motion™ 19 4.2 Mapping CIP Motion™ 20 4.3 Data types 20 4.4 I/O connection interface 21 4.4.1 General 21 4.4.2 I/O Connection Formats 21 4.4.3 Fixed I/O Connection Format 22 4.4.4 Variable I/O Connection Format 23 Mapping to DeviceNet™ 26 5.1 Adaptation of the device model 26 5.2 Use of I/O data formats 27 Mapping to ControlNet™ 27 6.1 Adaptation of the device model 27 6.2 Use of I/O data formats 29 Mapping to EtherNet/IP™ 29 7.1 Adaptation of the device model 29 7.2 Use of I/O data formats 30 Bibliography 31 Figure – Structure of IEC 61800-7 Figure – Overview of CIP-based networks 19 Figure – Connection Header 21 Figure – Connection Format 21 Figure – Fixed Controller to Device I/O Connection Format (fixed size = 16 bytes) 23 Figure – Fixed Device to Controller I/O Connection Format (fixed size = 16 bytes) 23 Figure – Controller-to-Device I/O Connection Format (variable size) 24 Figure – Device-to-Controller I/O Connection Format (variable size) 25 Figure – Object Model for a CIP Motion device on DeviceNet 26 Figure 10 – Object Model for a CIP Motion device on ControlNet 28 Figure 11 – Object Model for a CIP Motion device on EtherNet/IP 29 Table – Data types 21 Table – Object classes for a CIP Motion device type on DeviceNet 27 BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 –3– Table – Object classes for a CIP Motion device type on ControlNet 28 Table – Object classes for a CIP Motion device type on EtherNet/IP 30 –4– BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 INTERNATIONAL ELECTROTECHNICAL COMMISSION ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS – Part 7-302: Generic interface and use of profiles for power drive systems – Mapping of profile type to network technologies 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, Technical Reports, Publicly Available Specifications (PAS) and Guides (hereafter referred to as “IEC Publication(s)”) Their preparation is entrusted to technical committees; any IEC National Committee interested in the subject dealt with may participate in this preparatory work International, governmental and nongovernmental organizations liaising with the IEC also participate in this preparation IEC collaborates closely 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 misinterpretation by any end user 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 itself does not provide any attestation of conformity Independent certification bodies provide conformity assessment services and, in some areas, access to IEC marks of conformity IEC is not responsible for any services carried out by independent certification bodies 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 International Standard IEC 61800-7-302 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 This second edition cancels and replaces the first edition published in 2007 This edition constitutes a technical revision This edition includes the following significant technical changes with respect to the previous edition: a) update of patent information; b) updates to the Connection Format and connection points; c) support of an additional object BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 –5– The text of this standard is based on the following documents: FDIS Report on voting 22G/312/FDIS 22G/327/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 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 stability date indicated on the IEC website 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 IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates that it contains colours which are considered to be useful for the correct understanding of its contents Users should therefore print this document using a colour printer –6– BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 INTRODUCTION 0.1 General The IEC 61800 series is intended to provide a common set of specifications for adjustable speed electrical power drive systems IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing communication systems by use of a generic interface model 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 drive 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 – 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 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 often specified with incompatibilities This requires the – 20 – 4.2 BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 Mapping CIP Motion™ CIP Motion devices control, monitor or support the motion of one or more moving component of a machine Machine motion is typically generated by rotary or linear motion actuators, i.e.: motors, and monitored by feedback devices Each motor is typically driven by a power structure and a motion control algorithm that comprise a CIP Motion Drive Device Type Drive functionality supported by the CIP Motion drive profile can be applied to a variety of motor technologies, and can range from very simple “open loop” variable frequency drives to sophisticated “closed loop” vector controlled servo drives In either case, motion is controlled via a command reference that can be configured for position control, velocity control, acceleration control, or current/torque control The CIP Motion drive profile also supports position, velocity and acceleration monitoring through multiple feedback, as does the CIP Motion Encoder device profile All the attributes, services, and state behavior of a CIP Motion device are encapsulated in one or more Motion Device Axis Object instances In addition to motion control and feedback monitoring functionality, the Motion Device Axis Object includes support for event monitoring, such position capture on a Registration event, and DC Bus management associated with a Power Converter A CIP Motion device can manifest any combination of these functions to create various classes of CIP Motion compliant devices ranging from full featured servo drives, to CIP Motion Encoders, to standalone Power Converters, differentiated by the CIP Motion Device Type The CIP Motion drive profile specification in IEC 61800-7-202 defines the interface, the specific attributes, and command behaviors of a CIP Motion compliant drive as seen by a CIP Motion compliant controller As shown in Figure 2, the common application layer interface provided by CIP greatly simplifies the task of mapping a CIP device profile onto the various CIP based network technologies The only network dependent consideration that needs to be taken into account when implementing the CIP Motion drive profile is in establishing the network performance limitations The high bandwidth of EtherNet/IP allows use of a highly flexible variable Drive Connection data structure, while with DeviceNet it may be better to use the much smaller fixed Drive Connection structure due to the 8-byte data frame capacity of CAN Nevertheless, there is no technical reason or specification limitations preventing the use of the variable CIP Motion Drive Connection and associated time synchronization over DeviceNet or ControlNet For the critical time synchronization function, a dedicated Time Sync Object has been specified (see IEC 61158-5-2 and IEC 61158-6-2) ControlNet has an inherently synchronized data link layer, EtherNet/IP utilises IEC 61588:2009 directly, and the use of IEC 61588:2009 on DeviceNet has also been defined An additional QoS object has been specified for EtherNet/IP to handle the Ethernet Quality of Service function Other than performance, there is no differentiation between CIP Motion running over any of the three existing CIP networks 4.3 Data types Table shows references of data types used in CIP Motion drive profile and their related definitions As these are the CIP native data types, there is no need for any mapping when using DeviceNet, ControlNet or EtherNet/IP BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 21 – Table – Data types Data Types used in CIP Motion Reference to definition BOOL Boolean (see 5.3.1.1.2 of IEC 61158-5-2:2014) SINT Integer8 (see 5.3.1.4.2.2 of IEC 61158-5-2:2014) INT Integer16 (see 5.3.1.4.2.4 of IEC 61158-5-2:2014) DINT Integer32 (see 5.3.1.4.2.6 of IEC 61158-5-2:2014) LINT Integer64 (see 5.3.1.4.2.8 of IEC 61158-5-2:2014) USINT Unsigned8 (see 5.3.1.4.3.2 of IEC 61158-5-2:2014) UINT Unsigned16 (see 5.3.1.4.3.4 of IEC 61158-5-2:2014) UDINT Unsigned32 (see 5.3.1.4.3.6 of IEC 61158-5-2:2014) ULINT Unsigned64 (see 5.3.1.4.3.8 of IEC 61158-5-2:2014) REAL Float32 (see 5.3.1.4.1.2 of IEC 61158-5-2:2014) LREAL Float64 (see 5.3.1.4.1.4 of IEC 61158-5-2:2014) SWORD/BYTE Bitstring8 (see 5.3.1.2.2 of IEC 61158-5-2:2014) WORD Bitstring16 (see 5.3.1.2.4 of IEC 61158-5-2:2014) DWORD Bitstring32 (see 5.3.1.2.6 of IEC 61158-5-2:2014) LWORD Bitstring64 (see 5.3.1.2.8 of IEC 61158-5-2:2014) 4.4 I/O connection interface 4.4.1 General The CIP Motion device supports I/O connections of two different formats (fixed and variable), both of which connect directly to the Motion Device Axis Object These I/O (implicit) connections are used to connect the CIP Motion device to a CIP Motion Controller using a Transport Class point-to-point bi-directional connection A complete description of all the details of these connections can be found in IEC 61800-7-202 4.4.2 I/O Connection Formats The CIP Motion I/O Connection Header contains critical axis configuration information needed to parse the connection data that follows The fixed portion of the connection header is defined as shown in Figure Connection Header Connection Format Format Revision Update ID Node Control / Node Status IEC Figure – Connection Header The Connection Format determines the format of CIP Motion Connection according to the definition in Figure Bit Bit Connection Format (Reserved) Connection Type IEC Figure – Connection Format – 22 – BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 The Connection Type is a 4-bit enumeration that defines the CIP Motion Connection type as shown below 0= Fixed Controller Peer-to-Peer Connection 1= Fixed Device Peer-to-Peer Connection 2= Fixed Controller-to-Device Connection 3= Fixed Device-to-Controller Connection 4= Variable Controller Peer-to-Peer Connection 5= Variable Device Peer-to-Peer Connection 6= Variable Controller-to-Device Connection 7= Variable Device-to-Controller Connection to 15 = Reserved Fixed connections have a fixed, and generally smaller, connection size during operation to support lower-performance CIP networks and are typically associated with a simple single axis device that does not support time synchronization services Variable connections allow the connection data structure to vary in size during operation and are targeted for high-performance devices and CIP networks like EtherNet/IP 4.4.3 Fixed I/O Connection Format By specifying a Fixed Connection Format, the CIP Motion I/O Connection can be reduced to a size that is readily applicable to lower-performance CIP Networks or devices The following CIP Motion Connection data elements have been removed from the connection structure to provide a compact, fixed connection size that is more appropriate for motion applications utilising either a limited bandwidth network, or where it is desireable to share network bandwidth with other applications and maximum motion flexibility and performance is not required – Time Stamping – Node Faults/Alarms – Multi-axis instance support – Dynamic Block Sizing – Cyclic Read/Write Data Block – Event Data Block – Service Data Block Service requests to the Motion Device Axis Object in this case are supported via a separate Explicit Messaging connection, as currently defined in CIP Specification Event notifications would typically be handled via a second I/O connection configured as Change-of-State Figure and Figure show an example of the Fixed Connection Format being used in a simple variable speed drive application requiring only a velocity command and returning actual velocity In this case, the connection size has been reduced to 16-bytes, a size that is well suited for lower performance networks like DeviceNet Details are specified in IEC 61800-7-202 BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 23 – Controller to Device Connection Structure Connection Format Format Revision Update ID Node Control Control Mode Feedback Mode Axis Control – Command Data Set Actual Data Set Status Data Set – Command Velocity IEC Figure – Fixed Controller to Device I/O Connection Format (fixed size = 16 bytes) Device to Controller Connection Structure Connection Format Format Revision Update ID Node Status Control Mode Feedback Mode Axis Response Response Status – Actual Data Set Status Data Set Axis State Actual Velocity IEC Figure – Fixed Device to Controller I/O Connection Format (fixed size = 16 bytes) 4.4.4 Variable I/O Connection Format This format, while considerably larger than the Fixed Format, has significantly more flexibility and reduces the number of connections between the CIP Motion devices from to High level block views of the Variable Format I/O data structures are shown in Figure and Figure Details of these blocks are specified in IEC 61800-7-202 BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 24 – 32-bit Word (octet | octet | octet | octet 4) Controller-to-Device Connection Format Connection Header Time Data Block Instance Data Blocks Connection Header and Time Data Block Connection Format Format Revision Update ID Node Control Instance Count – Last Received ID Time Data Set Controller Time Stamp Controller Time Offset Instance Data Block Instance Data Header Cyclic Data Block Cyclic Write Data Block Event Data Block Service Data Block Instance Data Header Instance Num – Instance Blk Size Cyclic Blk Size Cyc Cmd Blk Size Cyc Write Blk Size Event Blk Size Service Blk Size Cyclic Data Block Control Mode Feedback Mode Axis Control Control Status Command Data Set Actual Data Set Status Data Set Command Control Cyclic Data Cyclic Write Data Block Cyclic Write Blk ID Cyclic Read Blk ID Cyclic Write Data Event Data Block Event Checking Control Reg Data Set Home Data Set Watch Data Set – Registration Event Data Home Event Data Watch Event Data Event Ack ID1 Event Ack Status Event Ack ID2 Event Ack Status … Service Data Block Transaction ID Service Code – – Service Specific Request Data IEC Figure – Controller-to-Device I/O Connection Format (variable size) BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 25 – 32-bit Word (octet | octet | octet | octet 4) Device-to-Controller Connection Format Connection Header Time Data Block Instance Data Blocks Connection Header and Time Data Block Connection Format Format Revision Update ID Node Status Instance Count Node Faults/Alarms Last Received ID Time Data Set Device Time Stamp Device Time Offset Lost Updates Late Updates – Timing Diagnostic Data Instance Data Block Instance Data Header Cyclic Data Block Cyclic Read Data Block Event Data Block Service Data Block Instance Data Header Instance Num – Instance Blk Size Cyclic Blk Size Cyc Act Blk Size Cyc Read Blk Size Event Blk Size Service Blk Size Cyclic Data Block Control Mode Feedback Mode Axis Response Response Status – Actual Data Set Status Data Set Axis State Cyclic Data Cyclic Read Data Block Cyclic Write Blk ID Cyclic Write Status Cyclic Read Blk ID Cyclic Read Status Cyclic Read Data Event Data Block Event Checking Status Reg Data Ack Home Data Ack Watch Data Ack – Event ID Event Status Event Type – Event Position Event Time Stamp … Service Data Block Transaction ID Service Code General Status Extended Status Service Specific Response Data IEC Figure – Device-to-Controller I/O Connection Format (variable size) BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 26 – 5.1 Mapping to DeviceNet™ Adaptation of the device model On DeviceNet, the CIP Motion device object model uses the DeviceNet Object as its network specific link object (see Figure 9) Identity Object Time Sync Object Motion Device Axis Object(s) Message Router Connections CIP Motion I/O Explicit Msg DeviceNet Object IEC Figure – Object Model for a CIP Motion device on DeviceNet Table indicates the object classes present in this device on DeviceNet, as well as their corresponding interfaces BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 27 – Table – Object classes for a CIP Motion device type on DeviceNet Object class Optional or required Number of instances Interface Identity Object Required Message Router Connection Object Required minimum (1 explicit, implicit) Message Router Message Router Required UCMM or Explicit Messaging Connection DeviceNet Object Required Message Router Time Sync Object Optional Motion Device Axis Object a Required per axis Message Router a Message Router, CIP Motion I/O Connection, Time Sync Object, Identity Object An axis is an abstraction associated with a moving machine component, a converter power structure or a motion I/O device The DeviceNet Object is defined in detail in IEC 61158-4-2 Refer to IEC 61158-5-2, IEC 61158-6-2 and IEC 61800-7-202 for more details about the other objects 5.2 Use of I/O data formats In general, the Fixed I/O Connection Format is used for CIP Motion I/O Connections over DeviceNet Parameters for this I/O Connection include: – Transport Class = – Trigger = Cyclic – Priority = Very High – Produced and Consumed Paths = Motion Device Axis Object – Number of Axis per node = Mapping to ControlNet™ 6.1 Adaptation of the device model On ControlNet, the CIP Motion device object model uses the ControlNet Object as its network specific link object (see Figure 10) BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 28 – Identity Object Time Sync Object Motion Device Axis Object(s) Message Router Connections CIP Motion I/O ControlNet Object Explicit Msg IEC Figure 10 – Object Model for a CIP Motion device on ControlNet Table indicates the object classes present in this device on ControlNet, as well as their corresponding interfaces Table – Object classes for a CIP Motion device type on ControlNet Object class Optional or required Number of instances Interface Identity Object Required Message Router Connection Manager Object Required Message Router Message Router Required UCMM or Explicit Messaging Connection ControlNet Object Required Message Router Time Sync Object Optional Message Router Required per axis a Message Router, CIP Motion I/O Connection, Time Sync Object, Identity Object Motion Device Axis Object a An axis is an abstraction associated with a moving machine component, a converter power structure or a motion I/O device The ControlNet Object is defined in detail in IEC 61158-4-2 Refer to IEC 61158-5-2, IEC 61158-6-2 and IEC 61800-7-202 for more details about the other objects BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 6.2 – 29 – Use of I/O data formats In general, the Fixed Connection Format is used for CIP Motion I/O Connections over ControlNet, although the Variable Format may be used as well (up to four axis per node) Parameters for this I/O Connection include: – Transport Class = – Trigger = Cyclic – Priority = Very High (Scheduled) – Number of Axis per node = to typical (Variable Format only) Mapping to EtherNet/IP™ 7.1 Adaptation of the device model On EtherNet/IP, the CIP Motion device object model uses the TCP/IP Interface and Ethernet Link Objects as its network specific link objects (see Figure 11) Identity Object Time Sync Object Motion Device Axis Object(s) QoS Object Message Router TCP/IP Interface Object Connections CIP Motion I/O Explicit Msg Ethernet Link Object IEC Figure 11 – Object Model for a CIP Motion device on EtherNet/IP Table indicates the object classes present in this device on EtherNet/IP, as well as their corresponding interfaces BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 30 – Table – Object classes for a CIP Motion device type on EtherNet/IP Object class Optional or required Number of instances Interface Identity Object Required Message Router Connection Manager Object Required Message Router Message Router Required UCMM or Explicit Messaging Connection TCP/IP Interface object Required Message Router Ethernet Link object Required Message Router Time Sync Object Optional Message Router QoS Object Required Motion Device Axis Object a Required per axis Message Router a Message Router, CIP Motion I/O Connection, Time Sync Object, Identity Object An axis is an abstraction associated with a moving machine component, a converter power structure or a motion I/O device The TCP/IP Interface and Ethernet Link Objects are defined in detail in IEC 61158-4-2 Refer to IEC 61158-5-2, IEC 61158-6-2 and IEC 61800-7-202 for more details about the other objects 7.2 Use of I/O data formats In general, the Variable Connection Format is used for CIP Motion I/O Connection over EtherNet/IP Parameters for this I/O Connection include: – UDP/IP – UDP protocol, ID = 0x8AE – Transport Class = – Trigger = Cyclic – Priority = Urgent Number of Axis per node = to 16 BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 – 31 – Bibliography IEC 60050-351:2013, International Electrotechnical technology (available at ) Vocabulary – Part 351: Control IEC 61158-2:2014, Industrial communication networks – Fieldbus specifications – Part 2: Physical layer specification and service definition IEC 61158-3-2:2014 , Industrial communication networks – Fieldbus specifications – Part 3-2: Data-link layer service definition – Type elements IEC 61499-1:2005, Function blocks – Part 1: Architecture IEC 61784-1:2014, Industrial communication networks – Profiles – Part 1: Fieldbus profiles IEC 61784-2:2014, Industrial communication networks – Profiles – Part 2: Additional fieldbus profiles for real-time networks based on ISO/IEC 8802-3 IEC 61800 (all parts), Adjustable speed electrical power drive systems IEC 61800-7 (all parts), Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems IEC 61800-7-1:2015, Adjustable speed electrical power drive systems – Part 7-1: Generic interface and use of profiles for power drive systems – Interface definition IEC 61800-7-201, Adjustable speed electrical power drive systems – Part 7-201: Generic interface and use of profiles for power drive systems – Profile type 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 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 specification IEC 61800-7-301, Adjustable speed electrical power drive systems – Part 7-301: Generic interface and use of profiles for power drive systems – Mapping of profile type 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 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 to network technologies IEC 62026-3, Low-voltage switchgear and controlgear – Controller-device interfaces (CDIs) – Part 3: DeviceNet™ IEC TR 62390:2005, Common Automation Device – Profile Guideline ISO/IEC 2382-15:1999, Information technology – Vocabulary – Part 15: Programming languages – 32 – BS EN 61800-7-302:2016 IEC 61800-7-302:2015 © IEC 2015 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 EN 50325-4, Industrial communication subsystem based on ISO 11898 (CAN) for controllerdevice interfaces – Part 4: CANopen IETF RFC 768, User Datagram Protocol, available at IETF RFC 791, Internet Protocol, available at IETF RFC 793, Transmission Control Protocol, available at IETF RFC 894, A Standard for the Transmission of IP Datagrams over Ethernet Networks, available at ODVA: THE CIP NETWORKS LIBRARY – Volume 1: Common Industrial Protocol (CIP™) – Edition 3.16, April 2014, available at ODVA: THE CIP NETWORKS LIBRARY – Volume 2: EtherNet/IP™ Adaptation of CIP – Edition 1.17, April 2014, available at ODVA: THE CIP NETWORKS LIBRARY – Volume 3: DeviceNet™ Adaptation of CIP – Edition 1.14, November 2013, available at ODVA: THE CIP NETWORKS LIBRARY – Volume 4: ControlNet™ Adaptation of CIP – Edition 1.8, April 2013, available at _ This page deliberately left blank NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW British Standards Institution (BSI) BSI is the national body responsible for preparing British Standards and other standards-related publications, information and services BSI is incorporated by Royal Charter British Standards and other standardization products are published by BSI Standards Limited About us Revisions We bring together business, industry, government, consumers, innovators and others to shape their combined experience and expertise into standards -based solutions Our British Standards and other publications are updated by amendment or revision The knowledge embodied in our standards has been carefully assembled in a dependable format and refined through our open consultation process Organizations of all sizes and across all 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