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GB/T 12668.7202-2024: Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
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Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
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GB/T 12668.7202-2024
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Basic data | Standard ID | GB/T 12668.7202-2024 (GB/T12668.7202-2024) | | Description (Translated English) | Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | K62 | | Classification of International Standard | 29.200; 35.100.05 | | Word Count Estimation | 262,259 | | Date of Issue | 2024-05-28 | | Date of Implementation | 2024-12-01 | | Issuing agency(ies) | State Administration for Market Regulation, China National Standardization Administration | GB/T 12668.7202-2024: Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
ICS 29:200;35:100:05
CCSK62
National Standards of People's Republic of China
Adjustable speed electrical drive systems Part 7-202:
General interface and usage specifications for electric drive systems
Type 2 Specifications
(IEC 61800-7-202:2015, IDT)
Released on 2024-05-28
2024-12-01 implementation
State Administration for Market Regulation
The National Standardization Administration issued
Table of Contents
Preface III
Introduction V
1 Scope 1
2 Normative references 1
3 Terms and definitions, abbreviations 1
3:1 Terms and Definitions 1
3:2 Abbreviations 7
4 General Principles 8
4:1 Overview 8
4:2 Control Mode 9
5 Data Types 14
5:1 Data Type Overview 14
5:2 Conventions 15
6 CIP Motion Transmission Specification 15
6:1 Object Model 15
6:2 How objects influence behavior 16
6:3 Defining Object Interfaces 16
6:4 I/O connection message 17
6:5 Device startup process 64
6:6 Visualization of the device 70
6:7 EtherNet/IP Quality of Service (QoS) 70
7 Kinematic Device Axis Object 71
7:1 General Principles71
7:2 Class Attributes 87
7:3 Instance attributes 93
7:4 General Services 190
7:5 Object-Specific Services 192
7:6 Behavior 207
References 248
Foreword
This document is in accordance with the provisions of GB/T 1:1-2020 "Guidelines for standardization work Part 1: Structure and drafting rules for standardization documents"
Drafting:
This document is part 7-202 of GB/T 12668 "Speed-controlled electrical drive systems": GB/T 12668 has been published in the following parts:
--- Part 1: General requirements for rated values of low voltage DC speed regulating electrical drive systems;
--- Part 2: General requirements for rated values of low voltage AC variable frequency electrical drive systems;
--- Part 3: Electromagnetic compatibility requirements and specific test methods;
--- Part 4: Rated voltage of AC speed regulating electric drive system with AC voltage above 1000V but not exceeding 35kV is generally required
Provision of values;
--- Part 5-1: Safety requirements electrical, thermal and energy;
--- Part 5-2: Safety requirements functions;
--- Part 6: Guidelines for determining the type of load duty and the corresponding current rating;
--- Part 701: General interfaces and usage specifications for electrical drive systems Interface definitions;
--- Part 7-201: General interface and use specification for electrical drive systems Type 1 specification description;
--- Part 7-202: General interface and use specification for electrical drive systems Type 2 specification description;
--- Part 7-301: Common interfaces and use specifications for electrical drive systems Type 1 specifications correspond to network technology;
--- Part 7-302: Common interfaces and use specifications for electrical drive systems Type 2 specifications correspond to network technology;
--- Part 8: Voltage specification of power interface;
--- Part 9-1: Eco-design for electrical drive systems, motor starters, power electronic equipment and their drive applications
General requirements for establishing energy efficiency standards for electrical drive equipment using the Product Act (EPA) and the Semi-Analytical Model (SAM);
--- Part 9-2: Eco-design of electrical drive systems, motor starters, power electronic equipment and their drive applications Electrical drives
Energy efficiency indicators for systems and motor starters:
This document is equivalent to IEC 61800-7-202:2015 "Speed-controlled electrical drive systems Part 7-202: General specifications for electrical drive systems"
Interface and usage specification type 2 specification description:
The following minimal editorial changes were made to this document:
---Replace and unify the confusing symbols in international standards:
● The dash “-” in the original data format diagram is replaced with the symbol “※”;
● The dash “-” indicating inapplicable attributes in the original Table 28, Table 29, Table 40 and Table 143 is replaced by the symbol “/”;
● The spaces indicating inapplicable attributes in the original Tables 44, 45 and 55 are replaced with the symbol “/”;
● The spaces in Table 69 and Table 70 that indicate validity in any state are replaced with the symbol “△”;
● The spaces indicating blank spaces in the original Tables 138 to 142 are replaced with a dash “-”;
● The symbol "=" in the original text, which indicates the meaning of the interpretation value, is replaced by the symbol ":";
● The symbol “=” in the original text that represents assignment is replaced by “为”:
---Original Table 30, Table 36, Table 39, Table 43, Table 52~Table 60, Table 64~Table 66, Table 68, Table 71~Table 86, Table 89~Table 92,
The NV columns of Table 97, Table 99~Table 102, Table 104, Table 106, Table 108, Table 110~Table 114 are all blank, and this document is fully filled
Write "Reserved";
--- Rewrite the following clauses and expressions in the table in the original text into a form that complies with the provisions of GB/T 1:1-2020, where the textual expressions
Replace with text symbols accordingly:
● Replace SystemTime in 6:4:6:7:2 with Xsystem_time and Local with local clock:
Ysystem_time_offset(drive), Timestampcomp representing the compensation timestamp from the controller is replaced by
Xtimestamp,comp, indicates that the timestamp received from the controller is replaced by Timestamprec with Xtimestamp,rec, indicating
The offset compensation OffsetCompensation is replaced by Yoffset_compensation, which indicates the current value of the destination system time offset:
Offsetdest is replaced by Yoffset,dest, and Offsetdest(last) representing the previous value of the destination system time offset is replaced by
Yoffset,dest(last), represents the received value of the time offset from the source system: Offsetsrc is replaced by Yoffset,src, represents the received value from the source system:
The previous value of the source system time offset, Offsetsrc(last), is replaced by Yoffset,src(last), which represents the Step value of the step threshold:
Threshold is replaced by Xstep_threshold;
● Replace Variance in 6:4:6:7:3 with Svariance, and replace PhaseCorrection with
θphase_correction, which means that the RPI of the requested packet interval is replaced by XRPI, which means the phase remaining
Replaced by θphase_remaining;
● Replace the controller time stamp in 6:5:4 and 7:4:2:2 with Xcontroler_time_stamp, indicating
The CPU in the controller update cycle (CIP motion link RPI) is replaced by XCUP, which represents the Trans-
SystemTime is replaced by Xcurrent_system_time;
● Replace JerkControl in Table 72, which indicates the acceleration control value, with Vjerk_control, which indicates the positive ramp speed with Ramp
VelPositive is replaced by Vramp_vel_positive, RampAccel, which indicates ramp acceleration, is replaced by Vramp_accel, which indicates negative
The ramp velocity RampVelNegative is replaced by Vramp_vel_negative, indicating that the ramp deceleration RampDecel is replaced
for Vramp_decel;
● Replace Offset0 in 7:6:6:2, which indicates the system time offset of the device when receiving the control command timestamp t0, with
Yoffset,0, indicates that the current system time offset Offset1 is replaced by Yoffset,1, indicating the adjusted instruction target time t0
Adjustedt0 is replaced by t2;
● Replace Offset0 in 7:6:8:3, which represents the system time offset of the device when event timestamp t0 occurs, with Yoffset,2:
--- Adjust the normative reference document IEC 61158-5-2:2014 to the latest version IEC 61158-5-2:2023, and the referenced part has no
Technological differences:
This document was proposed by the China Electrical Equipment Industry Association:
This document is under the jurisdiction of the National Technical Committee for Standardization of Power Electronics Systems and Equipment (SAC/TC60):
This document was drafted by: WISDRI (Wuhan) Automation Co:, Ltd:, Tianjin Electric Science Research Institute Co:, Ltd:, Hope Senlan Technology
Co:, Ltd:, Zhejiang Xinfuling Electric Co:, Ltd:, Shenzhen Baoan Renda Electric Industrial Co:, Ltd:, Guodian Nanjing Automation Co:, Ltd:
Co:, Ltd:, CISDI Electrical Technology Co:, Ltd:, Shenzhen Linpeng Medical Technology Co:, Ltd:, Shenzhen INVT Electrical Co:, Ltd:
Shenzhen Hopewind Electric Co:, Ltd:, Xi'an Electric Power Electronics Technology Research Institute Co:, Ltd:, Tianshui Electric Drive Research Institute Group Co:, Ltd:
Co:, Ltd:, Xi'an Shaangu Power Co:, Ltd:, Wolong Electric Group Liaoning Rongxin Electric Transmission Co:, Ltd:, Guangzhou Zhiguang Electric Technology Co:, Ltd:
Co:, Ltd:, Shenzhen Enjiu Technology Co:, Ltd:, Tianjin Tianchuan Electric Control Equipment Testing Co:, Ltd: (National Electric Control Distribution Equipment Quality Inspection and Testing Co:, Ltd:
Center), Shanghai Qidian Electric Technology Co:, Ltd:, Guangdong Alpine Electric Technology Co:, Ltd:, Beijing ABB Electric Drive Systems
Co:, Ltd:, Shenzhen Huichuan Technology Co:, Ltd:, Xi'an Qigong Electric Co:, Ltd:, Zhejiang Dongrui Machinery Industry Co:, Ltd:, Yunnan Electric
Power Testing Institute (Group) Co:, Ltd:, Xingchu Century Technology Co:, Ltd:, Xi'an Xichi Electric Co:, Ltd:, Zhejiang Chint Electric
Co:, Ltd:, Shenzhen Science and Technology Innovation Committee:
The main drafters of this document are: Ding Wei, Chai Qing, Luo Shen, Zhong Zhibing, Ji Shiqing, Luo Julong, Qian Shibao, Xiao Xuewen, Luan Qianghou, Liu Haiwei,
Zhou Dangsheng, Wei Hongqi, Dong Tianhua, Wang Aoneng, Wang Youyun, Wang Xiaojun, Zhang Hua, Li Taifeng, Xu Xianchang, Lou Hongli, He Liwei, Cui Haixian, Huang Yuhui,
Wen Xiangning, Yan Yi, Hou Xilun, Jin Wei, Liu Youkuan, Du Chengrui, Zhang Jun, and Yang Wanlu:
Introduction
0:1 Overview
GB/T 12668 provides a series of general specifications for speed-controlled electrical drive systems: It is intended to consist of the following parts:
--- Part 1: General requirements for low voltage DC speed regulating electric drive system ratings:
The performance of the DC electric drive system is defined based on the functional units of each subsystem, rather than defining the entire DC electric drive system:
--- Part 2: General requirements for low voltage AC variable frequency electrical drive system ratings:
The entire AC electric drive system is defined based on the performance of the system, rather than based on the functional units of each subsystem:
--- Part 3: Electromagnetic compatibility requirements and specific test methods: The purpose is to specify the electromagnetic compatibility of electrical drive systems
Require:
--- Part 4: Rated voltage of AC speed regulating electric drive system with AC voltage above 1000V but not exceeding 35kV is generally required
The purpose is to give the characteristics of the converter, the converter topology and its relationship with the entire AC electrical drive system:
relation:
--- Part 5-1: Safety requirements Electrical, thermal and energy safety: The purpose is to specify the requirements for speed control electrical drive systems or their components
Requirements for electrical, thermal and energy safety:
--- Part 5-2: Safety requirements function: The purpose is to specify the requirements for electrical drive systems (safety related) from the perspective of functional safety:
design, development, integration and verification of
--- Part 6: Guidelines for determining the type of load duty and the corresponding current rating: The purpose is to specify the speed control electrical drive system
In particular, the ratings of its basic drive modules provide an alternative approach:
--- Part 701: General interface and use specification interface definition for electric drive systems: The purpose is to specify the
The application specifications of the communication system are described through the use of a common interface model:
--- Part 7-201: General interface and use specification for electric drive systems Type 1 specification description: The purpose is to establish
The Type 1 specification can be mapped to different communication network technologies:
--- Part 7-202: General interface and use specification for electric drive systems Type 2 specification description: The purpose is to establish
The Type 2 specification can be mapped to different communication network technologies:
--- Part 7-203: General interface and use specification for electric drive systems Type 3 specification description: The purpose is to establish
The Type 3 specification can be mapped to different communication network technologies:
--- Part 7-204: General interface and use specification for electric drive systems Type 4 specification description: The purpose is to establish
The Type 4 specification can be mapped to different communication network technologies:
--- Part 7-301: Common interfaces and use specifications for electrical drive systems Type 1 specifications correspond to network technology: The purpose is to
Establish the mapping relationship between Type 1 specifications and different network technologies:
--- Part 7-302: Common interfaces and use specifications for electrical drive systems Type 2 specifications correspond to network technology: The purpose is to
Establish the mapping relationship between Type 2 specifications and different network technologies:
--- Part 7-303: Common interfaces and use specifications for electrical drive systems Type 3 specifications correspond to network technology: The purpose is to
Establish the mapping relationship between Type 3 specifications and different network technologies:
--- Part 7-304: Common interfaces and use specifications for electrical drive systems Type 4 specifications correspond to network technology: The purpose is to
Establish the mapping relationship between the 4-type specifications and different network technologies:
--- Part 8: Voltage specification of power interface: The purpose is to provide a method for determining the power interface voltage of the electrical drive system:
--- Part 9-1: Eco-design for electrical drive systems, motor starters, power electronic equipment and their drive applications
The purpose is to develop general requirements for energy efficiency standards for electrical drive equipment based on the Energy Efficiency Product Act (EPA) and the Semi-Analytical Model (SAM):
A general approach to energy efficiency standards is specified for all extended products that use the extended product approach:
--- Part 9-2: Eco-design of electrical drive systems, motor starters, power electronic equipment and their drive applications Electrical drives
The purpose is to specify the energy efficiency indicators of power electronic equipment complete drive modules, electrical drive systems and
Energy efficiency indicators of motor starters and all driven equipment:
This document and Part 701, Part 7-201, Part 7-301, Part 7-302 of GB/T 12668 and IEC 61800-
IEC 61800-7-203, IEC 61800-7-204, IEC 61800-7-303, IEC 61800-7-304 give the protocols for electrical drive systems (PDS)
and use a common interface model to map these protocol sets to existing communication systems:
This document and Part 701, Part 7-201, Part 7-301, Part 7-302 of GB/T 12668 and IEC 61800-
IEC 61800-7-203, IEC 61800-7-204, IEC 61800-7-303, IEC 61800-7-304 describe the connection between control systems and electrical drive systems:
This interface can be embedded in the control system, or the control system itself can be located on the drive (sometimes called a "smart drive" or
“Smart Transmission”):
A variety of physical interfaces can be used (analog and digital inputs and outputs, serial and parallel interfaces, fieldbuses and networks):
For application areas (e:g: motion control) and device classes (e:g: standard drives, positioning devices), a set of protocols based on a specific physical interface has been identified:
The implementation of the associated actuators and application program interfaces is proprietary and varies widely:
This document and Part 701, Part 7-201, Part 7-301, Part 7-302 of GB/T 12668 and IEC 61800-
IEC 61800-7-203, IEC 61800-7-204, IEC 61800-7-303, IEC 61800-7-304 specify a series of common protocols mapped to the drive protocol set:
Description of the drive control functions, parameters, state machines or operating sequences:
This document and Part 701, Part 7-201, Part 7-301, Part 7-302 of GB/T 12668 and IEC 61800-
IEC 61800-7-203, IEC 61800-7-204, IEC 61800-7-303, IEC 61800-7-304 provide a way to access drive system functions and data:
The goal is to have generic functions and objects that are suitable for mapping to different
This allows personnel without any drive expertise to implement general motion control in the controller:
control (or speed control or transmission control application):
There are several reasons to define a common interface:
For transmission manufacturers:
---Easier to support system integrators;
---General terminology, which makes it easier to describe transmission functions;
---The choice of transmission does not depend on special support:
For control device manufacturers:
--- No influence of bus technology;
---Easy to integrate the device;
---Independent of transmission supplier:
For System Integrators:
---Reduce the workload of device integration;
---There is only one reasonable way to model;
---Not dependent on bus technology:
Designing a motion control application with several different actuators and specialized control systems requires a lot of work: Understanding some of the tasks
Defining the functions of each component and programming the system software will consume a lot of project resources: In some cases, the transmission cannot share the same
Some control devices only support one interface, which is not supported by a specific transmission device: On the other hand, the provisions
The function blocks and data structures of the application software are usually incompatible: To deal with this situation, the system integrator needs to write a special interface program for the application software:
It is not their responsibility to do so:
Some applications require the interchangeability of devices or the integration of new devices into existing configurations: This also faces various incompatibilities:
It may not be possible to adapt a solution to the transmission protocol and to the manufacturer's specific requirements: This will reduce the
The freedom to choose the most appropriate device and unit for the application, which is suitable for a specific physical interface and supported by the controller:
IEC 61800-7-1:2015 is divided into a common part and several appendices as shown in Figure 1: The transmission protocols are concentrated in the relevant appendices:
CiA402, CIPMotion, PROFIdrive and SERCOS are mapped to the common interface:
The relevant networking organizations or fieldbus organizations are responsible for the content of the relevant appendices and the use of the relevant trademarks:
This document of GB/T 12668 describes the Type 2 specification (CIPMotion):
Type 1, Type 3 and Type 4 specifications are in Part 7-201 of GB/T 12668, IEC 61800-7-203 and IEC 61800-7-204 respectively:
illustrate:
Part 7-301 and Part 7-302 of GB/T 12668, IEC 61800-7-303 and IEC 61800-7-304 will clearly state
Type 1, Type 2, Type 3 and Type 4 specifications are available in different network technologies (such as CANopen, CC-LinkIEFieldNetwork, EPA,
EtherCAT, Ethernet Powerlink, DeviceNet, ControlNet, EtherNet/IP, PROFIBUS, PROFINET, and
SERCOS):
Figure 1 This document and Part 7-201, Part 7-301, Part 7-302 of GB/T 12668 and IEC 61800-7-1:2015,
Structure of IEC 61800-7-203, IEC 61800-7-204, IEC 61800-7-303, IEC 61800-7-304
0:2 Patent Statement
The issuing organization of this document calls attention to the fact that when declaring compliance with this document, it may involve the patents US7983769, EP1659465
Patents related to "Motion control network protocol with timestamps to achieve balanced single-cycle timing and utilization of dynamic data structures"
use:
The issuing organization of this document takes no position on the authenticity, validity and scope of this patent:
The patent holder has committed to the International Electrotechnical Commission (IEC ) that it is willing to cooperate with any applicant under reasonable and non-discriminatory terms and conditions:
The patent holder's statement has been filed with the International Electrotechnical Commission (IEC ):
To be obtained through the following contact information:
Patent Holder Name:[ODVA]
Address:ODVA, Inc:
Ann Arbor, Michigan 48104
USA
Email:odva@odva:org
Please note that in addition to the above patents, some of the contents of this document may still involve patents: The issuing agency of this document does not assume the responsibility for identifying patents:
responsibility:
Adjustable speed electrical drive systems Part 7-202:
General interface and usage specifications for electric drive systems
Type 2 Specifications
1 Scope
This document specifies the Type 2 specification [Common Industrial Protocol Motion (CIPMotion)] for electric drive systems (PDS):
Shooting into different communication network technologies:
The functions described in this document do not ensure functional safety: Additional measures may be required for functional safety as specified in other relevant standards:
2 Normative references
The contents of the following documents constitute the essential clauses of this document through normative references in this document:
For referenced documents without a date, only the version corresponding to that date applies to this document; for referenced documents without a date, the latest version (including all amendments) applies to
This document:
GB/T 25931-2010 Precision clock synchronization protocol for network measurement and control systems (IEC 61588:2009, IDT)
IEC 60204-1 Safety of machinery - Electrical equipment of machinery - Part 1: General requirements
Note: GB/T 5226:1-2019 Electrical safety of machinery Electrical equipment of machinery Part 1: General technical requirements (IEC 60204-1:2016, IDT)
IEC 61158-4-2 Industrial communication network fieldbus specification Part 4-2: Data link layer protocol specification Type 2 element
ification-Type2elements)
IEC 61158-5-2 Industrial Communication Network Fieldbus Specification Part 5-2: Application Layer Service Definition Type 2 Elements (Indus-
Trial communication networks-Fieldbus specifications-Part 5-2:Application layer service
definition-Type2elements)
IEC 61158-6-2 Industrial Communication Network Fieldbus Specification Part 6-2: Application Layer Protocol Specification Type 2 Elements (Indus-
tion-Type2elements)
IEC 61800-7-1 Adjustable speed electrical drive systems Part 7-1: Common interfaces and specifications for use of electrical drive systems Interface specifications
powerdrivesystems-Interfacedefinition)
Note: GB/T 12668:701-2012 Speed-adjustable electric drive system Part 701: General interface and use specification of electric drive system Interface definition
(IEC 61800-7-1:2007, IDT)
3 Terms, definitions and abbreviations
3:1 Terms and Definitions
The following terms and definitions apply to this document:
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