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PROFIBUS and PROFINET technical profile PROFI drive -- Part 1: Profile specifications
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Basic data | Standard ID | GB/Z 25740.1-2010 (GB/Z25740.1-2010) | | Description (Translated English) | PROFIBUS and PROFINET technical profile PROFI drive -- Part 1: Profile specifications | | Sector / Industry | National Standard | | Classification of Chinese Standard | N10 | | Classification of International Standard | 25.040 | | Word Count Estimation | 154,126 | | Date of Issue | 2011-01-14 | | Date of Implementation | 2011-05-01 | | Quoted Standard | GB/T 2900.56-2008; GB/T 19659.1-2005; GB/Z 25740.2-2010; ISO/IEC 19501; IEC/TR 62390-2005 | | Adopted Standard | PROFIBUS & PROFINET driven norm PROFIdrive technical specifications, MOD | | Regulation (derived from) | ?National Standard Approval Announcement 2011 No.2 (Total No.167); National Standard Announcement 2013 No.27 | | Issuing agency(ies) | Ministry of Health of the People's Republic of China | | Summary | This standard specifies the PROFIdrive profile for electric drive systems (PDS) for. The technical guidance document applies to PROFIdrive profile can be mapped to a different communication network technologies. | GBZ25740.1-2010: PROFIBUS and PROFINET technical profile PROFI drive -- Part 1: Profile specifications
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PROFIBUS and PROFINET technical profile PROFIdrive.Part 1. Profile specifications
ICS 25.040
N10
People's Republic of China national standardization of technical guidance documents
PROFIBUS 牔 PROFINET technical regulations
Posted on.2011-01-14
2011-05-01 implementation
General Administration of Quality Supervision, Inspection and Quarantine of People's Republic of China
China National Standardization Administration released
Directory
Foreword IX
Introduction Ⅹ
1 Scope 1
2 Normative references 1
3 Terms and Definitions, Abbreviations 1
3.1 Terms and definitions 1
3.2 Abbreviations 4
4 Overview 6
4.1 Features 6
4.2 Requirements 6
4.3 Goal of PROFIdrive profile 7
5 data type 7
5.1 Data Type Overview 7
5.2 Standard Data Types 7
5.3 Rules specific data types 8
5.3.1 Overview 8
5.3.2 Normalized values. N2, N4 8
5.3.3 Normalized values (variable normalization) X2, X4 9
5.3.4 Fixed Point Value. E2 9
5.3.5 Fixed Point Value. C4 9
5.3.6 Bit Sequence. V2 10
5.3.7 Quaternary. L2 10
5.3.8 time constant. T2, T4 10
5.3.9 time constant. D2 10
5.3.10 The reciprocal of the time constant. R2 11
6 Specification 11
6.1 Drive Integration in Automation Systems 11
6.1.1 Overview 11
6.1.2 Basic model 11
6.1.3 Drive Model 17
6.1.4 P-Device Communication Model 19
6.1.5 Application Models and Application Classes 20
6.2 Parameter Model 24
6.2.1 Parameter Definition 24
6.2.2 Global parameters and local parameters 35
6.2.3 Basic Mode Parameter Access 36
6.3 Drive Control Application Process 54
6.3.1 General axis type Drive object structure 54
6.3.2 Control words and status words 55
6.3.3 Working Mode and State Machine 61
6.3.4 DOIO Data 74
6.3.5 Dynamic Servo Control (DSC) 83
6.3.6 Position feedback interface 86
6.3.7 Peripherals 106
6.3.8 Warnings, Messages, Faults, Diagnostics 106
6.3.9 logo 113
6.3.10 Driver Reset (Power-on Reset) 116
6.3.11 Parameter Operation Priority and Control Priority 118
6.3.12 User Data Reliability 119
6.3.13 Application Specific DO Function 122
6.4 Parameter Definition 124
6.4.1 PROFIdrive parameters listed by function 124
6.4.2 PROFIdrive parameters listed by parameter number 126
6.5 process integration in the process of driving 135
6.5.1 Overview 135
6.5.2 Command and check signals 136
6.5.3 Statechart 138
6.5.4 Non-maskable interrupts and external interlocks 139
6.5.5 standard message 140
References 142
Figure 1 Structure of a PROFIdrive file Ⅺ
Figure 2 PROFIdrive device and its communication relationship 12
Figure 3 General communication model of the PROFIdrive automation system 12
Figure 4 PROFIdrive device (including one or more function objects) 13
Figure 5 hierarchy of objects in the model 13
Figure 6 The basic PROFIdrive model consists of "application layer" and "communication layer" 14
Figure 7 Typical Example of Clock Synchronization Operation 15
Figure 8 Clock synchronization operation of the general model 15
Figure 9 Basic model state machine 16
Figure 10 Universal Drive Unit Model 17
Figure 11 universal drive object structure 18
Figure 12 axis type of the main function of the object model 18
Figure 13 PROFIdriveP-Device classification 19
Figure 14 PROFIdrive drive unit classification 19
Figure 15 Overview of available communication services between PROFIdrive devices 20
Figure 16 Application Class 1 21
Figure 17 Application Class 2 21
Figure 18 Application Class 3 22
Figure 19 Application category 4 23
Figure 20 Application category 5 23
Figure 21 Application category 6 24
Fig. 22 Example. Overview of global and local parameters for multi-axis/modular drive units 35
Figure 23 Byte order of words and double words 37
Figure 24 Data Flow for Basic Mode Parameter Access 43
Figure 25 General functions of the PROFIdrive axis type DO 54
Figure 26 Function Block for PROFIdrive Axis Type DO Figure 55
Figure 27 Common State of All Operating Modes Figure 62
Figure 28 General functions of PROFIdrive axis DO with application class 1 function 63
Figure 29 Speed Setpoint Channel 64 for Application Class 1 and Application Class 4
Figure 30 General functions of PROFIdrive axis DO with application class 4 function 65
Figure 31 Simplified Speed Setpoint Channel for Application Class 4 (Optional) 66
Figure 32 General functions of PROFIdrive axis DO with application class 3 function 67
Figure 33 Motion Controller Functions in Program Submode 68
Figure 34 Motion Controller Functions in MDI Submode 69
Figure 35 Status of Positioning Modes in Program Submode
Figure 36 Status of Positioning Modes in MDI Submode 72
Figure 37 Return to reference point procedure. Reference point position setting 73
Figure 38 Return to Reference Point Procedure. Terminated by Controller 73
Figure 39 Activate move task 73
Figure 40 Immediate Changes in Move Task 74
Figure 41 Example of a configuration message 81
Fig. 42 Position control circuit based on speed setpoint interface without DSC 83
Figure 43 Position Control Circuit Configuration with DSC Speed Setpoint Interface 84
Figure 44 Sensor Interface Example 87
Figure 45 Example 1. Actual Value Format 90
Figure 46 Example 2. Actual Value Format 90
Figure 47 Example 3. Actual Value Format 90
Figure 48 Example 4. Actual Value Format 90
Figure 49 Example 5. Actual Value Format 91
Figure 50 Example 6. Actual Value Format 91
Figure 51 Example 7. Actual Value Format 91
Figure 52 Example 8. Actual Value Format 91
Figure 53 shows the state and transition position feedback interface states 96
Figure 54 Sensor Confirmation of Error Confirmation 101
Figure 55 Sensor Can not Confirm Error Confirmation 102
Figure 56 Timing Chart. Running Measurement - Timing 1 103
Figure 57 Timing Chart. Running Measurement - Timing 2 104
Figure 58 Reference mark search timing diagram 105
Figure 59 Overview of the diagnostic mechanism for PROFIdrive 107
Figure 60 Warning Mechanism Operation 107
Figure 61 Overview of Fault Buffer Mechanism 108
Fig. 62 Confirmation of fault buffering mechanism 109
Figure 63 Failure Buffer Processing Mechanism 110
Figure 64 Example of fault buffer for subsequent system 111
Figure 65 Error Number List Example 112
Figure 66 Drive Reset. Direct Startup (P972 = 1) 117
Figure 67 Example. Controller's Sign-Of-Life Permanent Failure 119
Fig. 68 Example. Controller LS temporary failure (negative deviation) 120
Fig. 69 Example. Controller LS temporarily disabled (positive deviation; double step) 120
Figure 70 Example. DOLS Permanent Failure 121
Figure 71 Example. DOLS Temporary Failure (Negative Deviation) 121
Figure 72 Example. DOLS Temporary Failure (Negative Deviation; Double Step) 121
Figure 73 Relationship between DOSign-Of-Life Fail Counter (Axis-Specific) Value and Sign-Of-Life Controller Transmit 122
Figure 74 Integrated functions and interfaces based on VIK-NAMUR drivers
Figure 75 Basic structure of the driver interface according to VIK-NAMUR guidelines
Figure 76 Speed setpoint channel 138 for VIK-NAMUR process mode
Figure 77 Process technology Operating mode, bit 15 of control word 1 and bits 10, 11, 13, 14 139 of status word 1
Figure 78 Process Technology Operating Mode, Non-Maskable Interrupt, and External Interconnect 140
Table 1 standard data types 7
Table 2 shows the specific data type 8
Table 3 N2, N4 range of values 8
Table 4 N2, N4 encoding 8
Table 5 X2, X4 value range 9
Table 6 X2, X4 encoding (eg x = 12, 28) 9
Table 7 E2 range 9
Table 8 E2 coding 9
Table 9 C4 Value range 10
Table 10 V2 Code 10
Table 11 L2 encoding 10
Table 12 T2, T4 range 10
Table 13 D2 range 11
Table 14 R2 Range 11
Table 15 applies class 20
Table 16 Parameter Definition 24
Table 17 Parameter Description Element 25
Table 18 Parameter Description Element "Identifier (ID)" 25
Table 19 Parameter Description Element "Variable Attributes" 26
Table 20 Variable Index and Conversion Index 27 for SI Units
Table 21 Conversion Index Conversion Value (SI Unit) 30
Table 22 Variable Index and Conversion Index (US Units) 31
Table 23 Conversion Index Conversion Values (USA Units) 33
Table 24 Parameter Description Element "IO Data Reference/IO Data Normalization" 34
Table 25 Text array for parameter description 34
Table 26 Text array of data type Boolean 34
Table 27 Text array of data type V2 (bit sequence) 35
Table 28 Basic Mode Parameter Request 37
Table 29 Basic Mode Parameter Response 37
Table 30 Allowed combinations of Attribute, NumberofElements and Subindex 39
Table 31 Parameter Reference for Basic Mode Parameter Access Field Code 40 in Request/Parameter Response
Table 32 Error Number 41 in Basic Mode Parameter Response
Table 33 Parameter State Machine Processing Common State Machine 43
Table 34 Sequence 1. Parameter Request 44
Table 35. Sequence 1. The data is responsive to the "Word" data type parameter 44
Table 36 Sequence 1. The parameter whose data is "Doubleword" data type is responding 44
Table 37 Sequence 1. Parameter Negative Response 44
Table 38 Sequence 2. Parameter Request 44
Table 39 Sequence 2. Parameter Positive Response 45
Table 40 Sequence 2. Parameter negative response 45
Table 41 Sequence 3. Parameter Request 45
Table 42 Sequence 3. Parameter Positive Response 45
Table 43 Sequence 3. Parameter Negative Response 46
Table 44 Sequence 4. Parameter Request 46
Table 45 Sequence 4. Parameter Positive Response 46
Table 46 Sequence 4. Parameter Negative Response 47
Table 47 Sequence 5. Parameter Request 47
Table 48 Sequence 5. Parameter Positive Response 47
Table 49 Sequence 5. Parameter Negative Response 47
Table 50 Sequence 6. Parameter Request 48
Table 51 Sequence 6. Parameter Positive Response. All parameters are accessed correctly 48
Table 52 Sequence 6. Parameter Negative Response. The first and third parameters are accessed correctly, the second parameter is accessed Error 48
Table 53 Sequence 7. Parameter Request 49
Table 54 Sequence 7. Parameter Positive Response. All Parameter Access Correct 50
Table 55 Sequence 7. Parameter Negative Response. The first and third parameters are accessed correctly, the second parameter is accessed Error 50
Table 56 Sequence 8. Parameter Request 50
Table 57 Sequence 8. Parameter Positive Response 50 for Data Type "Word" Data (eg ID)
Table 58 Sequence 8. Parameter with Text Positive Response 50
Table 59 Sequence 8. Parameter Negative Response 51
Table 60 Sequence 9. Parameter Request 51
Table 61 Sequence 9. Parameter Positive Response 51
Table 62 Sequence 9. Parameter Negative Response 52
Table 63 Sequence 10. Parameter Request 52
Table 64 Sequence 10. Parameter Positive Response 52
Table 65 Sequence 10. Parameter Negative Response 52
Table 66 Sequence 11. Requests for Values, Descriptions, and Texts in a Request 53
Table 67 Sequence 11. Parameter Positive Response. All Parameter Access Correct 53
Table 68 Overview of Bit Assignment in Control Word 56
Table 69 Common Control Bit Assignments in Control Word 1 (STW1) for Speed Control/Positioning Control 56
Table 70 Special bit assignments in control word 1 (STW1) of speed control mode
Table 71 Special bit assignment in control word 1 (STW1) of positioning mode
Table 72 Overview of Bit Assignment for Control Word 2 58
Table 73 Bit Assignment Overview of Status Word 1 58
Table 74 Common Bit Assignments in Speed Control Mode/Positioning Mode Explanation of Word 1 (ZSW1)
Table 75 Assignment of Special Word Status Word 1 (ZSW1) in Speed Control Mode 60
Table 76 Special Bit Assignments in Status Word 1 (ZSW1) for Positioning Mode 60
Table 77 Overview of Bit Assignment for Status Word 2 60
Table 78 Structure of Status Word Pulse Enable Bit 61
Table 79 SATZANW Signal Definitions 69
Table 80 AKTSATZ Signal Definition 70
Table 81 MDI_MOD Signal Definition 70
Table 82 Signal Allocation List 74
Table 83 Definition of standard message 1 76
Table 84 Definitions of standard message 2 76
Table 85 - Definition of standard message 3 76
Table 86 - Definition of standard message 4 77
Table 87 Definition of standard message 5 77
Table 88 - Definition of standard message 6
Table 89 - Definition of standard message 7
Table 90 - Definition of standard message 9
Table 91 Definition of standard message 8 79
Table 92 Parameter for configuring telegram 79
Table 93 P922 encoding 79
Table 94 Example A/B for normalized DOIO data, parameter value 82
Table 95 Example A/B for Normalized DOIO Data, Parameter Description Element 82
Table 96 Example of normalized DOIO data C, parameter value 82
Table 97 Example C, Parameter Descriptions for Normalized DOIO Data Element 83
Table 98 Structure of Parameter 979 (Sensor Format) 88
Table 99 Sub-index 0 (header) 88 in parameter 979
Table 100 Sub-Index 1 (Sensor Type) 88 in parameter 979
Subindex 2 in parameter 979 (sensor resolution) 89
Table 102 Assignment of Gx_XIST2 (sensor-x position actual value -2) 92
Table 103 Gx_XIST2 error code 92
Table 104 Sensor Control Word 93
Table 105 Sensor Status Word 94
Table 106 Status 97
Table 107 Conversion 98
Table 108 Sensor control word priority 101
Table 109 Example of standard message with additional peripheral control 106
Table 110 Fault Buffer Parameter 110
Table 111 Error Code Example 112
Table 112 Fault Class Attribute Definitions 112
Table 113 PROFIdrive Fault Class Definitions 113
Table 114 Structure (Drive Unit Identification) of Parameter 964
Table 115 Definition of Line Identification Number 114
Table 116 Structure (DO Identifier) 114 of Parameter 975
Table 117 Structure of parameter P975.5 115
Table 118 DO Type Class Definitions for Parameter P975.5 115
Table 119 Bit Assignments Identified by DO Subclass 1 in P975.6 115
Table 120 Structure of Parameter 974 (Basic Mode Parameter Access ID)
Table 121 PROFIdriveI & M Parameter Definitions 116
Table 122 PROFIdrive Parameter Value Definition 117
Table 123 PROFIdrive Error Code Definition 117
Table 124 Application-Specific DO Features 122
Table 125 Activity Tag Monitoring parameters 124
Table 126 Parameter 124 for DOIO Data Packet Selection and Configuration
Table 127 Parameter "Sensor Interface" 124
Table 128 Parameter 124 "Failure Buffer Processing"
Table 129 "Warning Mechanism" parameters 124
Table 130 Parameter 125 "Closed loop control mode of operation"
Table 131 Parameter 125 Setting and Saving Local Parameter Sets
Table 132, Setting Parameters 125 for Saving Complete Parameter Sets
Table 133 Parameter 125 "Drive Reset"
Table 134 Parameter 125 "Operational priority of write parameters"
Table 135 Parameters for DO Identification and Settings 125
Table 136 Parameter Parameter Identification 126
Table 137 Parameter 126 for Device Identification
Table 138 Parameter 126 "Alternative Monitoring Device DOIO Data Control Channel"
Table 139 PROFIdrive parameters 127 by parameter number
Table 140 Bit Assignment Overview of Control Word 1 for Process Technology Operating Modes 136
Table 141 Status Word for Process Technology Operating Mode 1 Overview of Bit Assignment 136
Table 142 Bit Assignment Overview of Drive States/Fault Words for Process Technology Operating Modes
Table 143 Definition of standard message 20
Foreword
GB /Z25740 "PROFIBUS & PROFINET technical regulations PROFIdrive" is divided into the following two parts.
GB /Z25740.1-2010 "PROFIdrive PROFIdrivePROFIBUSPROFINET technical regulations Part 1. Rules and regulations";
GB /Z25740.2-2010"PROFIBUS&PROFINET Technical specifications PROFIdrive Part 2. Line regulation to network technology
The mapping of surgery ";
This guidance document is part 1 of GB /Z25740.
GB /Z25740.1-2010 modified using PROFIBUS international technical specifications "PROFIBUS & PROFINET drive
Line regulation PROFIdrive technical specifications "in the technical content and the original technical specifications is no different, for the convenience of our users, in the text structure
Arranged on the adjustment, and press GB/T 1.1 requirements for editing.
This guidance document is proposed by China Machinery Industry Federation.
This Guidance Document is governed by the National Technical Committee for Standardization and Measurement of Industrial Processes (SAC/TC124).
The guidance of technical documents Drafted by. Machinery Industry Instrumentation Technology and Economy Institute, Chinese Academy of Sciences (Shenyang) Automation Research
, Southwest University, Shandong University, Tsinghua University, Beijing Institute of Technology, Shenzhen Step Technology Co., Ltd., Shanghai Automation Instrumentation Co., Ltd.
Company, Shanghai Institute of Industrial Automation Instrumentation, Siemens (China) Co., Ltd., Lenze (Shanghai) Electromechanical Transmission Co., Ltd.
The main drafters of this technical document. Wang Linkun, Liu Dan, Wang Chunxi, Yang Zhi, Liu Feng, Zhang Chengrui, Xie Sufen, Xiao Xi, Donglei,
Ding Lu, Chi Jiawu, Bao Weihua, Peng Yu, Ouyang Jinsong, Wheatstone, Chen Zhonghua, Hou Kai.
Introduction
IEC 61800-7-1 describes a common interface between a control system and a variable speed electric drive system (PDS). This interface can be
To be embedded in the control system. The control system itself can also be placed inside the drive (also called "smart drive" or "smart drive
Device. "The generic PDS interface is not specific to any communication network technology such as PROFIBUS and PROFINET, and the IEC 61800-
The appendix of 7-1 specifies the mapping of generic drive PDS interfaces for different drive profile types.
A variety of physical interfaces are available (analog and digital inputs and outputs, serial and parallel interfaces, field buses and networks).
For some applications (such as motion control) and some driver classes (such as standard drivers, positioning devices), it is now defined that a specific physical interface
Mouth of the line rules. The implementation of the corresponding drivers and application interfaces is special and varied.
PROFIdrive defines a common set of drive control functions, parameters and state machines or jobs that are mapped to the PROFIdrive profile
The description of the order.
PROFIdrive complies with the IEC 61800-7 series of standards. IEC 61800-7-1 provides a function to access the drive and data
Mode, which is independent of the drive profile and communication interface used. The goal is to create a communication path suitable for mapping to different communications
A generic driver model of functions and objects to provide motion control (or speed control, or drive control applications) in the controller
Universal implementation without any specialized driver implementation knowledge. The reasons for defining generic interfaces are as follows.
For drive equipment manufacturers.
--- System integrators to provide support to spend less effort;
--- Due to the use of common terminology, the description of the drive function is relatively simple;
--- Drive selection does not depend on the availability of specialized technical support.
For control equipment manufacturers.
--- Not affected by the bus technology;
Easy to integrate equipment
--- Has nothing to do with the manufacturer of the drive.
For system integrators (building blocks, machines, kits, etc.).
--- For equipment integration can spend less energy;
--- For the driving mode of understanding is unique;
--- And bus communication technology has nothing to do.
It takes a lot of effort to design motion-controlled applications with several different drives and specific control systems. To achieve
System software and a functional description of each component can consume the project's resources. In some cases, these drives can not be shared
The same physical interface. Some control devices support only one type of interface, which can not be supported by a particular drive.
On the other hand, it also provides incompatible functions and data structures. This makes system integrators have to write interface software for application software
Pieces to handle the work that should not have been their responsibility.
Some applications require device replacement or new device integration in existing configurations. This will face different incompatible solutions
Program. It may not be acceptable to adopt a solution that drives the drive and manufacturer-specific extensions. This reduces the choice of self
By degrees, the selected device is changed from best suited to the application to be available for a particular physical interface and is supported by the controller.
Figure 1 shows the relationship between this guidance document and IEC 61800 and IEC /T R62390. Designed to conform to this guidance document
Devices do not need to comply with the general purpose PDS interface specification in IEC 61800-7-1. IEC 61800-7-1 can be used to guide people from the drive
Abstract perspectives are translated in accordance with the abstract terminology in IEC 61800-7-1, for example to convert PROFIdrive commands to more general
the term.
This guideline documents the PROFIdrive profile.
Note. In the IEC 61800-7 series of standards, it is called "Profile Type 3".
GB /Z25740.2-2010"PROFIBUS&PROFINET Technical specifications PROFIdrive Part 2. Line regulation to the network
Technology Mapping ", which specifies how to map PROFIdrive profiles (Profile Type 3) to PROFIBUS DP and PROFINETIO.
PROFIBUS 牔 PROFINET technical regulations
1 Scope
This guidance document defines the PROFIdrive profile for electric drive systems (PDS).
This guidance document is applicable to PROFIdrive profiles that can be mapped to different communication network technologies.
Note. The functions specified in this guidance document do not cover functional safety and functional safety requirements are taken in accordance with the relevant standards, protocols and laws
Additional measures.
2 Normative references
The following documents contain provisions which, through reference in this Guidance Document, become the provisions of this Guidance Note document. All dated
Reference documents, all subsequent amendments (not including errata content), or revisions do not apply to this guidance document, however, drums
Recipients of the agreement based on this guidance document are encouraged to study whether the latest versions of these documents are applicable. All undated references
The latest version of this document applies to this guidance document.
GB/T 2900.56-2008 Electrotechnical terminology control technology (IEC 60050-351..2006, IDT)
GB/T 19659.1-2005 Industrial automation systems and integrated open systems application integration framework - Part 1. General reference
Description (ISO 15745-1..2003, IDT)
GB /Z25740.2-2010 PROFIBUS & PROFINET technical regulations PROFIdrive Part 2. Line regulation to the network
Network technology mapping
ISO /IEC 19501 Information Technology Open Distributed Processing Universal Modeling Language (UML) (version 1.4.2)
IEC /T R62390..2005 Code of practice for general automatic devices
3 Terms and Definitions, Abbreviations
3.1 Terms and definitions
The following terms and definitions apply to this guidance document.
3.1.1
The value of a variable at a given time.
[GB/T 2900.56-2008, 351-21-02]
3.1.2
A fully deterministic, finite sequence of instructions for the output data value can be calculated from the input data value.
[GB/T 2900.56-2008, 351-21-37]
3.1.3
A software functional element dedicated to problem solving in industrial process measurement and control.
Note. Applications can be distributed in resources, but also with other applications.
[IEC /T R62390..2005, 3.1.2, modified]
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