{"id":252455,"date":"2024-10-19T16:40:04","date_gmt":"2024-10-19T16:40:04","guid":{"rendered":"https:\/\/pdfstandards.shop\/product\/uncategorized\/bs-en-61800-7-2012016\/"},"modified":"2024-10-25T11:59:23","modified_gmt":"2024-10-25T11:59:23","slug":"bs-en-61800-7-2012016","status":"publish","type":"product","link":"https:\/\/pdfstandards.shop\/product\/publishers\/bsi\/bs-en-61800-7-2012016\/","title":{"rendered":"BS EN 61800-7-201:2016"},"content":{"rendered":"

IEC 61800-7-201:2015 is available as \/2 which contains the International Standard and its Redline version, showing all changes of the technical content compared to the previous edition. IEC 61800-7-201:2015 specifies profile type 1 for power drive systems (PDS). Profile type 1 can be mapped onto different network technologies. This edition includes the following significant technical changes with respect to the previous edition: – Updates, clarifications and enhancements.<\/p>\n

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PDF Pages<\/th>\nPDF Title<\/th>\n<\/tr>\n
6<\/td>\nEnglish
CONTENTS <\/td>\n<\/tr>\n
21<\/td>\nFOREWORD <\/td>\n<\/tr>\n
23<\/td>\nINTRODUCTION <\/td>\n<\/tr>\n
26<\/td>\nFigures
Figure\u00a01 \u2013 Structure of IEC\u00a061800-7 <\/td>\n<\/tr>\n
27<\/td>\n1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions <\/td>\n<\/tr>\n
31<\/td>\n3.2 Abbreviated terms <\/td>\n<\/tr>\n
32<\/td>\n4 General
4.1 General considerations
4.2 Communication interface <\/td>\n<\/tr>\n
33<\/td>\n4.3 Object dictionary <\/td>\n<\/tr>\n
34<\/td>\n5 Data types
5.1 Standard data types
5.2 Record definitions
Tables
Table\u00a01 \u2013 List of used data types
Table\u00a02 \u2013 Interpolation time period <\/td>\n<\/tr>\n
35<\/td>\n6 General object definitions
6.1 General
6.2 Communication parameter objects
Figure\u00a02 \u2013 Value definition
Table\u00a03 \u2013 Interpolation data configuration
Table\u00a04 \u2013 vl velocity acceleration\/deceleration <\/td>\n<\/tr>\n
36<\/td>\n6.3 Additional identification and information objects
6.3.1 Object 6402h: Motor type
Table\u00a05 \u2013 Object description
Table 6 \u2013 Entry description <\/td>\n<\/tr>\n
37<\/td>\n6.3.2 Object 6403h: Motor catalogue number
Table 7 \u2013 Value definition
Table 8 \u2013 Object description
Table 9 \u2013 Entry description <\/td>\n<\/tr>\n
38<\/td>\n6.3.3 Object 6404h: Motor manufacturer
Table 10 \u2013 Object description
Table 11 \u2013 Entry description
Table 12 \u2013 Object description
Table 13 \u2013 Entry description <\/td>\n<\/tr>\n
39<\/td>\n6.3.4 Object 6405h: http motor catalogue address
6.3.5 Object 6406h: Motor calibration date
Table 14 \u2013 Object description
Table 15 \u2013 Entry description
Table 16 \u2013 Object description
Table 17 \u2013 Entry description <\/td>\n<\/tr>\n
40<\/td>\n6.3.6 Object 6407h: Motor service period
6.3.7 Object 6503h: Drive catalogue number
Table 18 \u2013 Object description
Table 19 \u2013 Entry description
Table 20 \u2013 Object description
Table 21 \u2013 Entry description <\/td>\n<\/tr>\n
41<\/td>\n6.3.8 Object 6505h: http drive catalogue address
7 Error codes and error behavior
7.1 Error codes
Table 22 \u2013 Object description
Table 23 \u2013 Entry description <\/td>\n<\/tr>\n
42<\/td>\nTable 24 \u2013 Error codes <\/td>\n<\/tr>\n
45<\/td>\n7.2 Error behavior <\/td>\n<\/tr>\n
46<\/td>\n8 Controlling the power drive system
8.1 General
8.2 Finite state automaton
Figure 3 \u2013 Remote and local control <\/td>\n<\/tr>\n
47<\/td>\nFigure 4 \u2013 Power drive system finite state automaton
Table 25 \u2013 FSA states and supported functions <\/td>\n<\/tr>\n
48<\/td>\nTable 26 \u2013 Transition events and actions <\/td>\n<\/tr>\n
49<\/td>\n8.3 Modes of operation <\/td>\n<\/tr>\n
50<\/td>\n8.4 Detailed object specifications
8.4.1 Object 6040h: Controlword
Figure 5 \u2013 Relation between different value parameters
Figure 6 \u2013 Value definition <\/td>\n<\/tr>\n
51<\/td>\n8.4.2 Object 6041h: Statusword
Table 27 \u2013 Command coding
Table 28 \u2013 Object description
Table 29 \u2013 Entry description <\/td>\n<\/tr>\n
52<\/td>\nFigure 7 \u2013 Value definition
Table 30 \u2013 State coding <\/td>\n<\/tr>\n
53<\/td>\n8.4.3 Object 603Fh: Error code
Table 31 \u2013 Object description
Table 32 \u2013 Entry description
Table 33 \u2013 Object description <\/td>\n<\/tr>\n
54<\/td>\n8.4.4 Object 6007h: Abort connection option code
Table 34 \u2013 Entry description
Table 35 \u2013 Value definition
Table 36 \u2013 Object description
Table 37 \u2013 Entry description <\/td>\n<\/tr>\n
55<\/td>\n8.4.5 Object 605Ah: Quick stop option code
8.4.6 Object 605Bh: Shutdown option code
Table 38 \u2013 Value definition
Table 39 \u2013 Object description
Table 40 \u2013 Entry description <\/td>\n<\/tr>\n
56<\/td>\n8.4.7 Object 605Ch: Disable operation option code
Table 41 \u2013 Value definition
Table 42 \u2013 Object description
Table 43 \u2013 Entry description
Table 44 \u2013 Value definition <\/td>\n<\/tr>\n
57<\/td>\n8.4.8 Object 605Dh: Halt option code
Table 45 \u2013 Object description
Table 46 \u2013 Entry description
Table 47 \u2013 Value definition
Table 48 \u2013 Object description <\/td>\n<\/tr>\n
58<\/td>\n8.4.9 Object 605Eh: Fault reaction option code
8.4.10 Object 6060h: Modes of operation
Table 49 \u2013 Entry description
Table 50 \u2013 Value definition
Table 51 \u2013 Object description
Table 52 \u2013 Entry description <\/td>\n<\/tr>\n
59<\/td>\nTable 53 \u2013 Value definition
Table 54 \u2013 Object description
Table 55 \u2013 Entry description <\/td>\n<\/tr>\n
60<\/td>\n8.4.11 Object 6061h: Modes of operation display
8.4.12 Object 6502h: Supported drive modes
Figure 8 \u2013 Value definition
Table 56 \u2013 Object description
Table 57 \u2013 Entry description <\/td>\n<\/tr>\n
61<\/td>\n9 Factor group
9.1 General
Table 58 \u2013 Object description
Table 59 \u2013 Entry description <\/td>\n<\/tr>\n
62<\/td>\nFigure 9 \u2013 Position scaling concept <\/td>\n<\/tr>\n
63<\/td>\n9.2 Detailed object definitions
9.2.1 Object 608Fh: Position encoder resolution <\/td>\n<\/tr>\n
64<\/td>\n9.2.2 Object 6090h: Velocity encoder resolution
Table 60 \u2013 Object description
Table 61 \u2013 Entry description <\/td>\n<\/tr>\n
65<\/td>\n9.2.3 Object 6091h: Gear ratio
Table 62 \u2013 Object description
Table 63 \u2013 Entry description <\/td>\n<\/tr>\n
66<\/td>\n9.2.4 Object 6092h: Feed constant
Table 64 \u2013 Object description
Table 65 \u2013 Entry description <\/td>\n<\/tr>\n
67<\/td>\nTable 66 \u2013 Object description
Table 67 \u2013 Entry description <\/td>\n<\/tr>\n
68<\/td>\n9.2.5 Object 6096h: Velocity factor
9.2.6 Object 6097h: Acceleration factor
Table 68 \u2013 Object description
Table 69 \u2013 Entry description <\/td>\n<\/tr>\n
69<\/td>\n9.2.7 Object 60A2h: Jerk factor
Table 70 \u2013 Object description
Table 71 \u2013 Entry description <\/td>\n<\/tr>\n
70<\/td>\n9.2.8 Object 607Eh: Polarity
Table 72 \u2013 Object description
Table 73 \u2013 Entry description <\/td>\n<\/tr>\n
71<\/td>\n9.2.9 Code table for device profile specific units
9.2.10 Object 60A8h: SI unit position
Figure 10 \u2013 Value definition
Table 74 \u2013 Object description
Table 75 \u2013 Entry description
Table 76 \u2013 Device profile specific units <\/td>\n<\/tr>\n
72<\/td>\n9.2.11 Object 60A9h: SI unit velocity
Figure 11 \u2013 Example for a position unit
Table 77 \u2013 Object description
Table 78 \u2013 Entry description
Table 79 \u2013 Object description <\/td>\n<\/tr>\n
73<\/td>\n9.2.12 Object 60AAh: SI unit acceleration
Figure 12 \u2013 Example for a velocity unit
Table 80 \u2013 Entry description
Table 81 \u2013 Object description
Table 82 \u2013 Entry description <\/td>\n<\/tr>\n
74<\/td>\n9.2.13 Object 60ABh: SI unit jerk
10 Profile position mode
10.1 General information
Figure 13 \u2013 Example for an acceleration unit
Figure 14 \u2013 Example for a jerk unit
Table 83 \u2013 Object description
Table 84 \u2013 Entry description <\/td>\n<\/tr>\n
75<\/td>\n10.2 Functional description
10.2.1 General
Figure 15 \u2013 Trajectory generator and position control function
Figure 16 \u2013 Trajectory generator for profile position mode <\/td>\n<\/tr>\n
76<\/td>\n10.2.2 Single set-point
Figure 17 \u2013 Set-point example
Figure 18 \u2013 Handshaking procedure for the single set-point method <\/td>\n<\/tr>\n
77<\/td>\n10.2.3 Set of set-points
Figure 19 \u2013 Handshaking procedure for the set of set-points method <\/td>\n<\/tr>\n
78<\/td>\n10.2.4 Usage of halt bit in conjunction with new set-point bit
Figure 20 \u2013 Set-point handling for two set-points <\/td>\n<\/tr>\n
79<\/td>\n10.3 General definitions
10.4 Use of controlword and statusword
Figure 21 \u2013 Erase set-point
Figure 22 \u2013 Controlword for profile position (pp) mode <\/td>\n<\/tr>\n
80<\/td>\n10.5 Detailed object definitions
10.5.1 Object 607Ah: Target position
Figure 23 \u2013 Statusword for profile position (pp) mode
Table 85 \u2013 Definition of bit 4, bit 5, and bit 9
Table 86 \u2013 Definition of bit 6 and bit 8
Table 87 \u2013 Definition of bit 10, bit 12, and bit 13 <\/td>\n<\/tr>\n
81<\/td>\n10.5.2 Object 607Bh: Position range limit
Table 88 \u2013 Object description
Table 89 \u2013 Entry description
Table 90 \u2013 Object description <\/td>\n<\/tr>\n
82<\/td>\n10.5.3 Object 607Dh: Software position limit
Table 91 \u2013 Entry description <\/td>\n<\/tr>\n
83<\/td>\nFigure 24 \u2013 Software position limits
Table 92 \u2013 Object description <\/td>\n<\/tr>\n
84<\/td>\n10.5.4 Object 607Fh: Max profile velocity
Table 93 \u2013 Entry description
Table 94 \u2013 Object description <\/td>\n<\/tr>\n
85<\/td>\n10.5.5 Object 6080h: Max motor speed
10.5.6 Object 6081h: Profile velocity
Table 95 \u2013 Entry description
Table 96 \u2013 Object description
Table 97 \u2013 Entry description <\/td>\n<\/tr>\n
86<\/td>\n10.5.7 Object 6082h: End velocity
10.5.8 Object 6083h: Profile acceleration
Table 98 \u2013 Object description
Table 99 \u2013 Entry description
Table 100 \u2013 Object description
Table 101 \u2013 Entry description <\/td>\n<\/tr>\n
87<\/td>\n10.5.9 Object 6084h: Profile deceleration
10.5.10 Object 6085h: Quick stop deceleration
Table 102 \u2013 Object description
Table 103 \u2013 Entry description
Table 104 \u2013 Object description
Table 105 \u2013 Entry description <\/td>\n<\/tr>\n
88<\/td>\n10.5.11 Object 6086h: Motion profile type
Table 106 \u2013 Object description
Table 107 \u2013 Entry description
Table 108 \u2013 Value definition
Table 109 \u2013 Object description <\/td>\n<\/tr>\n
89<\/td>\n10.5.12 Object 60A3h: Profile jerk use
10.5.13 Object 60A4h: Profile jerk
Table 110 \u2013 Entry description
Table 111 \u2013 Object description
Table 112 \u2013 Entry description <\/td>\n<\/tr>\n
90<\/td>\nFigure 25 \u2013 Velocity\/time diagram with jerk positions
Table 113 \u2013 Value assignments
Table 114 \u2013 Object description <\/td>\n<\/tr>\n
91<\/td>\n10.5.14 Object 60C5h: Max acceleration
Table 115 \u2013 Entry description <\/td>\n<\/tr>\n
92<\/td>\n10.5.15 Object 60C6h: Max deceleration
Table 116 \u2013 Object description
Table 117 \u2013 Entry description
Table 118 \u2013 Object description
Table 119 \u2013 Entry description <\/td>\n<\/tr>\n
93<\/td>\n11 Homing mode
11.1 General information
11.2 Functional description
Figure 26 \u2013 Homing mode function <\/td>\n<\/tr>\n
94<\/td>\n11.3 General definitions
11.3.1 General
11.3.2 Method 1: Homing on negative limit switch and index pulse
11.3.3 Method 2: Homing on positive limit switch and index pulse
11.3.4 Method 3 and 4: Homing on positive home switch and index pulse
Figure 27 \u2013 Homing on negative limit switch and index pulse
Figure 28 \u2013 Homing on positive limit switch and index pulse <\/td>\n<\/tr>\n
95<\/td>\n11.3.5 Method 5 and 6: Homing on negative home switch and index pulse
11.3.6 Method 7 to 14: Homing on home switch and index pulse
Figure 29 \u2013 Homing on positive home switch and index pulse
Figure 30 \u2013 Homing on negative home switch and index pulse <\/td>\n<\/tr>\n
96<\/td>\n11.3.7 Method 15 and 16: Reserved
11.3.8 Method 17 to 30: Homing without index pulse
Figure 31 \u2013 Homing on home switch and index pulse \u2013 positive initial motion
Figure 32 \u2013 Homing on home switch and index pulse \u2013 negative initial motion <\/td>\n<\/tr>\n
97<\/td>\n11.3.9 Method 31 and 32: Reserved
11.3.10 Method 33 and 34: Homing on index pulse
11.3.11 Method 35: Homing on current position (obsolete)
11.3.12 Method 36: Reserved for compatibility reasons
11.3.13 Method 37: Homing on current position
Figure 33 \u2013 Homing on positive home switch
Figure 34 \u2013 Homing on index pulse <\/td>\n<\/tr>\n
98<\/td>\n11.4 Use of controlword and statusword
11.5 Detailed object definitions
11.5.1 Object 607Ch: Home offset
Figure 35 \u2013 Controlword for homing mode
Figure 36 \u2013 Statusword for homing mode
Table 120 \u2013 Definition of bit 4 and bit 8
Table 121 \u2013 Definition of bit 10, bit 12, and bit 13 <\/td>\n<\/tr>\n
99<\/td>\n11.5.2 Object 6098h: Homing method
Figure 37 \u2013 Home offset definition
Table 122 \u2013 Object description
Table 123 \u2013 Entry description <\/td>\n<\/tr>\n
100<\/td>\n11.5.3 Object 60E3h: Supported homing methods
Table 124 \u2013 Value definition
Table 125 \u2013 Object description
Table 126 \u2013 Entry description
Table 127 \u2013 Object description <\/td>\n<\/tr>\n
101<\/td>\n11.5.4 Object 6099h: Homing speeds
Table 128 \u2013 Entry description <\/td>\n<\/tr>\n
102<\/td>\n11.5.5 Object 609Ah: Homing acceleration
Table 129 \u2013 Object description
Table 130 \u2013 Entry description <\/td>\n<\/tr>\n
103<\/td>\n12 Touch probe functionality
12.1 Object 60B8h: Touch probe function
Table 131 \u2013 Object description
Table 132 \u2013 Entry description <\/td>\n<\/tr>\n
104<\/td>\nTable 133 \u2013 Value definition
Table 134 \u2013 Object description <\/td>\n<\/tr>\n
105<\/td>\n12.2 Object 60B9h: Touch probe status
Table 135 \u2013 Entry description
Table 136 \u2013 Value definition
Table 137 \u2013 Object description <\/td>\n<\/tr>\n
106<\/td>\n12.3 Object 60BAh: Touch probe 1 positive edge
12.4 Object 60BBh: Touch probe 1 negative edge
Table 138 \u2013 Entry description
Table 139 \u2013 Object description
Table 140 \u2013 Entry description
Table 141 \u2013 Object description <\/td>\n<\/tr>\n
107<\/td>\n12.5 Object 60BCh: Touch probe 2 positive edge
12.6 Object 60BDh: Touch probe 2 negative edge
Table 142 \u2013 Entry description
Table 143 \u2013 Object description
Table 144 \u2013 Entry description
Table 145 \u2013 Object description <\/td>\n<\/tr>\n
108<\/td>\n12.7 Object 60D0h: Touch probe source
Table 146 \u2013 Entry description
Table 147 \u2013 Value definition
Table 148 \u2013 Object description <\/td>\n<\/tr>\n
109<\/td>\n12.8 Touch probe time stamp latch
12.8.1 General
Table 149 \u2013 Entry description <\/td>\n<\/tr>\n
110<\/td>\n12.8.2 Object 60D1h: Touch probe time stamp 1 positive value
12.8.3 Object 60D2h: Touch probe time stamp 1 negative value
Table\u00a0150 \u2013 Object description
Table\u00a0151 \u2013 Entry description
Table\u00a0152 \u2013 Object description
Table 153 \u2013 Entry description <\/td>\n<\/tr>\n
111<\/td>\n12.8.4 Object 60D3h: Touch probe time stamp 2 positive value
12.8.5 Object 60D4h: Touch probe time stamp 2 negative value
Table\u00a0154 \u2013 Object description
Table\u00a0155 \u2013 Entry description
Table\u00a0156 \u2013 Object description
Table\u00a0157 \u2013 Entry description <\/td>\n<\/tr>\n
112<\/td>\n12.9 Touch probe edge counter for continuous mode
12.9.1 General
12.9.2 Object 60D5h: Touch probe 1 positive edge counter
12.9.3 Object 60D6h: Touch probe 1 negative edge counter
Table 158 \u2013 Object description
Table\u00a0159 \u2013 Entry description <\/td>\n<\/tr>\n
113<\/td>\n12.9.4 Object 60D7h: Touch probe 2 positive edge counter
Table 160 \u2013 Object description
Table 161 \u2013 Entry description
Table 162 \u2013 Object description
Table 163 \u2013 Entry description <\/td>\n<\/tr>\n
114<\/td>\n12.9.5 Object 60D8h: Touch probe 2 negative edge counter
12.10 Timing diagram for touch probe example
Table 164 \u2013 Object description
Table 165 \u2013 Entry description <\/td>\n<\/tr>\n
115<\/td>\nFigure 38 \u2013 Timing diagram for touch probe example <\/td>\n<\/tr>\n
116<\/td>\n13 Position control function
13.1 General information
13.2 Functional description
Figure 39 \u2013 Position control function
Table 166 \u2013 Explanation of the timing diagram <\/td>\n<\/tr>\n
117<\/td>\nFigure 40 \u2013 Following error (functional overview)
Figure 41 \u2013 Position reached (functional overview) <\/td>\n<\/tr>\n
118<\/td>\n13.3 Detailed object definitions
13.3.1 Object 6062h: Position demand value
Figure 42 \u2013 Position reached (definitions)
Figure 43 \u2013 Following error (definitions) <\/td>\n<\/tr>\n
119<\/td>\n13.3.2 Object 6063h: Position actual internal value
13.3.3 Object 6064h: Position actual value
Table 167 \u2013 Object description
Table 168 \u2013 Entry description
Table 169 \u2013 Object description
Table 170 \u2013 Entry description <\/td>\n<\/tr>\n
120<\/td>\n13.3.4 Object 6065h: Following error window
Table 171 \u2013 Object description
Table 172 \u2013 Entry description
Table 173 \u2013 Object description
Table 174 \u2013 Entry description <\/td>\n<\/tr>\n
121<\/td>\n13.3.5 Object 6066h: Following error time out
13.3.6 Object 6067h: Position window
Table 175 \u2013 Object description
Table 176 \u2013 Entry description
Table 177 \u2013 Object description <\/td>\n<\/tr>\n
122<\/td>\n13.3.7 Object 6068h: Position window time
13.3.8 Object 60F4h: Following error actual value
Table 178 \u2013 Entry description
Table 179 \u2013 Object description
Table 180 \u2013 Entry description
Table 181 \u2013 Object description <\/td>\n<\/tr>\n
123<\/td>\n13.3.9 Object 60FAh: Control effort
13.3.10 Object 60FCh: Position demand internal value
Table 182 \u2013 Entry description
Table 183 \u2013 Object description
Table 184 \u2013 Entry description <\/td>\n<\/tr>\n
124<\/td>\n13.3.11 Object 60F2h: Positioning option code
Figure 44 \u2013 Object structure
Table 185 \u2013 Object description
Table 186 \u2013 Entry description
Table 187 \u2013 Value definition for bit 0 and bit 1 <\/td>\n<\/tr>\n
125<\/td>\nTable 188 \u2013 Value definition for bit 2 and bit 3
Table 189 \u2013 Value definition for bit 4 and bit 5
Table 190 \u2013 Value definition for bit 6 and bit 7 <\/td>\n<\/tr>\n
126<\/td>\nFigure 45 \u2013 Rotary axis positioning example
Figure 46 \u2013 Example for absolute movement greater than modulo value <\/td>\n<\/tr>\n
127<\/td>\n14 Interpolated position mode
14.1 General information
Figure 47 \u2013 Example for relative movement greater than modulo value
Table 191 \u2013 Object description
Table 192 \u2013 Entry description <\/td>\n<\/tr>\n
129<\/td>\n14.2 Functional description
14.2.1 General
14.2.2 Linear interpolated position mode with several axes
Figure 48 \u2013 Interpolation controller <\/td>\n<\/tr>\n
130<\/td>\nFigure 49 \u2013 Interpolated position mode for two axes
Table 193 \u2013 Position calculation in interpolated position mode for several axes <\/td>\n<\/tr>\n
131<\/td>\n14.2.3 Buffer strategies for the interpolated position mode
Figure 50 \u2013 Linear interpolation for one axis <\/td>\n<\/tr>\n
132<\/td>\n14.2.4 Interpolated position mode FSA
Figure 51 \u2013 Input buffer organization
Figure 52 \u2013 Input buffer examples <\/td>\n<\/tr>\n
133<\/td>\n14.3 General definitions
14.4 Use of controlword and statusword
Figure 53 \u2013 Interpolated position mode FSA
Figure 54 \u2013 Controlword for interpolated position mode
Table 194 \u2013 FSA states and supported functions
Table 195 \u2013 Transition events and actions <\/td>\n<\/tr>\n
134<\/td>\n14.5 Detailed object definitions
14.5.1 Object 60C0h: Interpolation sub mode select
Figure 55 \u2013 Statusword for interpolated position mode
Table 196 \u2013 Definition of bit 4 and bit 8
Table 197 \u2013 Definition of bit 10 and bit 12
Table 198 \u2013 Value definition <\/td>\n<\/tr>\n
135<\/td>\n14.5.2 Object 60C1h: Interpolation data record
Table 199 \u2013 Object description
Table 200 \u2013 Entry description
Table 201 \u2013 Object description <\/td>\n<\/tr>\n
136<\/td>\n14.5.3 Object 60C2h: Interpolation time period
Table 202 \u2013 Entry description <\/td>\n<\/tr>\n
137<\/td>\n14.5.4 Object 60C4h: Interpolation data configuration
Table 203 \u2013 Object description
Table 204 \u2013 Entry description <\/td>\n<\/tr>\n
138<\/td>\nTable 205 \u2013 Object description <\/td>\n<\/tr>\n
139<\/td>\nTable 206 \u2013 Entry description <\/td>\n<\/tr>\n
140<\/td>\n15 Profile velocity mode
15.1 General information
15.2 Functional description <\/td>\n<\/tr>\n
141<\/td>\n15.3 General definitions
15.4 Use of controlword and statusword
Figure 56 \u2013 Profile velocity mode
Figure 57 \u2013 Controlword for profile velocity mode <\/td>\n<\/tr>\n
142<\/td>\n15.5 Detailed object definitions
15.5.1 Object 6069h: Velocity sensor actual value
Figure 58 \u2013 Statusword for profile velocity mode
Table 207 \u2013 Definition of bit 8
Table 208 \u2013 Definition of bit 10, bit 12, and bit 13
Table 209 \u2013 Object description <\/td>\n<\/tr>\n
143<\/td>\n15.5.2 Object 606Ah: Sensor selection code
15.5.3 Object 606Bh: Velocity demand value
Table 210 \u2013 Entry description
Table 211 \u2013 Value definition
Table 212 \u2013 Object description
Table 213 \u2013 Entry description <\/td>\n<\/tr>\n
144<\/td>\n15.5.4 Object 606Ch: Velocity actual value
15.5.5 Object 606Dh: Velocity window
Table 214 \u2013 Object description
Table 215 \u2013 Entry description
Table 216 \u2013 Object description
Table 217 \u2013 Entry description <\/td>\n<\/tr>\n
145<\/td>\n15.5.6 Object 606Eh: Velocity window time
15.5.7 Object 606Fh: Velocity threshold
Table 218 \u2013 Object description
Table 219 \u2013 Entry description
Table 220 \u2013 Object description
Table 221 \u2013 Entry description <\/td>\n<\/tr>\n
146<\/td>\n15.5.8 Object 6070h: Velocity threshold time
15.5.9 Object 60FFh: Target velocity
Table 222 \u2013 Object description
Table 223 \u2013 Entry description
Table 224 \u2013 Object description
Table 225 \u2013 Entry description <\/td>\n<\/tr>\n
147<\/td>\n15.5.10 Object 60F8h: Max slippage
Table 226 \u2013 Object description
Table 227 \u2013 Entry description
Table 228 \u2013 Object description
Table 229 \u2013 Entry description <\/td>\n<\/tr>\n
148<\/td>\n16 Profile torque mode
16.1 General information
16.2 Functional description
Figure 59 \u2013 Structure of the profile torque mode <\/td>\n<\/tr>\n
149<\/td>\n16.3 General definitions
16.4 Use of controlword and statusword
16.5 Detailed object definitions
16.5.1 Object 6071h: Target torque
Figure 60 \u2013 Controlword for profile torque mode
Figure 61 \u2013 Statusword for profile torque mode
Table 230 \u2013 Definition of bit 8
Table 231 \u2013 Definition of bit 10 <\/td>\n<\/tr>\n
150<\/td>\n16.5.2 Object 6072h: Max torque
16.5.3 Object 60E0h: Positive torque limit value
Table 232 \u2013 Object description
Table 233 \u2013 Entry description
Table 234 \u2013 Object description
Table 235 \u2013 Entry description <\/td>\n<\/tr>\n
151<\/td>\n16.5.4 Object 60E1h: Negative torque limit value
Table 236 \u2013 Object description
Table 237 \u2013 Entry description
Table 238 \u2013 Object description
Table 239 \u2013 Entry description <\/td>\n<\/tr>\n
152<\/td>\n16.5.5 Object 6073h: Max current
16.5.6 Object 6074h: Torque demand
Table 240 \u2013 Object description
Table 241 \u2013 Entry description
Table 242 \u2013 Object description
Table 243 \u2013 Entry description <\/td>\n<\/tr>\n
153<\/td>\n16.5.7 Object 6075h: Motor rated current
16.5.8 Object 6076h: Motor rated torque
Table 244 \u2013 Object description
Table 245 \u2013 Entry description
Table 246 \u2013 Object description <\/td>\n<\/tr>\n
154<\/td>\n16.5.9 Object 6077h: Torque actual value
16.5.10 Object 6078h: Current actual value
Table 247 \u2013 Entry description
Table 248 \u2013 Object description
Table 249 \u2013 Entry description
Table 250 \u2013 Object description <\/td>\n<\/tr>\n
155<\/td>\n16.5.11 Object 6079h: DC link circuit voltage
16.5.12 Object 6087h: Torque slope
Table 251 \u2013 Entry description
Table 252 \u2013 Object description
Table 253 \u2013 Entry description
Table 254 \u2013 Object description <\/td>\n<\/tr>\n
156<\/td>\n16.5.13 Object 6088h: Torque profile type
17 Velocity mode
17.1 General information
Table 255 \u2013 Entry description
Table 256 \u2013 Value definition
Table 257 \u2013 Object description
Table\u00a0258 \u2013 Entry description <\/td>\n<\/tr>\n
157<\/td>\n17.2 Functional description
17.2.1 Ramp function
Figure 62 \u2013 Velocity mode with all objects
Figure 63 \u2013 Velocity mode with mandatory objects only <\/td>\n<\/tr>\n
158<\/td>\n17.2.2 Velocity control function
17.2.3 Factor function
Figure 64 \u2013 Velocity profile
Figure 65 \u2013 Factor function
Figure 66 \u2013 Reverse factor function <\/td>\n<\/tr>\n
159<\/td>\n17.3 General definitions
17.4 Use of controlword and statusword
Figure 67 \u2013 Controlword for profile velocity mode
Figure 68 \u2013 Usage of controlword bits in velocity mode
Table 259 \u2013 Definition of bit 4, bit 5, bit 6, and bit 8 <\/td>\n<\/tr>\n
160<\/td>\n17.5 Detailed object definitions
17.5.1 Object 6042h: vl target velocity
17.5.2 Object 6043h: vl velocity demand
Figure 69 \u2013 Statusword for profile velocity mode
Table 260 \u2013 Object description
Table 261 \u2013 Entry description <\/td>\n<\/tr>\n
161<\/td>\n17.5.3 Object 6044h: vl velocity actual value
Table 262 \u2013 Object description
Table 263 \u2013 Entry description
Table 264 \u2013 Object description
Table 265 \u2013 Entry description <\/td>\n<\/tr>\n
162<\/td>\n17.5.4 Object 6046h: vl velocity min max amount
Figure 70 \u2013 Transfer characteristic of vl velocity min max amount
Table 266 \u2013 Object description <\/td>\n<\/tr>\n
163<\/td>\n17.5.5 Object 6049h: vl velocity deceleration
Figure 71 \u2013 Transfer characteristic of the velocity deceleration
Table 267 \u2013 Entry description <\/td>\n<\/tr>\n
164<\/td>\n17.5.6 Object 6048h: vl velocity acceleration
Table 268 \u2013 Object description
Table 269 \u2013 Entry description <\/td>\n<\/tr>\n
165<\/td>\nFigure 72 \u2013 Transfer characteristic of the velocity acceleration
Table 270 \u2013 Object description <\/td>\n<\/tr>\n
166<\/td>\n17.5.7 Object 604Ah: vl velocity quick stop
Figure 73 \u2013 Transfer characteristic of the quick stop deceleration
Table 271 \u2013 Entry description <\/td>\n<\/tr>\n
167<\/td>\n17.5.8 Object 604Bh: vl set-point factor
Table 272 \u2013 Object description
Table 273 \u2013 Entry description <\/td>\n<\/tr>\n
168<\/td>\n17.5.9 Object 604Ch: vl dimension factor
Table 274 \u2013 Object description
Table 275 \u2013 Entry description <\/td>\n<\/tr>\n
169<\/td>\nTable 276 \u2013 Object description
Table 277 \u2013 Entry description <\/td>\n<\/tr>\n
170<\/td>\n18 Cyclic synchronous position mode
18.1 General information
18.2 Functional description
Figure 74 \u2013 Cyclic synchronous position mode overview <\/td>\n<\/tr>\n
171<\/td>\n18.3 Use of controlword and statusword
Figure 75 \u2013 Cyclic synchronous position control function
Figure 76 \u2013 Statusword for profile cyclic synchronous position mode <\/td>\n<\/tr>\n
172<\/td>\n18.4 Detailed object definitions
18.4.1 Object 60B0h: Position offset
18.4.2 Object 60B1h: Velocity offset
Table 278 \u2013 Definition of bit 10, bit 12, and bit 13
Table 279 \u2013 Object description
Table 280 \u2013 Entry description <\/td>\n<\/tr>\n
173<\/td>\n18.4.3 Object 60B2h: Torque offset
Table 281 \u2013 Object description
Table 282 \u2013 Entry description
Table 283 \u2013 Object description <\/td>\n<\/tr>\n
174<\/td>\n19 Cyclic synchronous velocity mode
19.1 General information
Figure 77 \u2013 Cyclic synchronous velocity mode overview
Table 284 \u2013 Entry description <\/td>\n<\/tr>\n
175<\/td>\n19.2 General definitions
19.3 Functional description
19.4 Use of controlword and statusword
Figure 78 \u2013 Cyclic synchronous velocity control function <\/td>\n<\/tr>\n
176<\/td>\n20 Cyclic synchronous torque mode
20.1 General information
Figure 79 \u2013 Statusword for profile cyclic synchronous velocity mode
Table 285 \u2013 Definition of bit 10, bit 12, and bit 13 <\/td>\n<\/tr>\n
177<\/td>\n20.2 General definitions
20.3 Functional description
20.4 Use of controlword and statusword
Figure 80 \u2013 Cyclic synchronous torque mode overview
Figure 81 \u2013 Cyclic synchronous torque control function <\/td>\n<\/tr>\n
178<\/td>\n21 Cyclic synchronous torque mode with commutation angle (cstca)
21.1 General information
Figure 82 \u2013 Statusword for profile cyclic synchronous torque mode
Figure 83 \u2013 Cyclic synchronous torque mode with commutation angle overview
Table 286 \u2013 Definition of bit 10, bit 12, and bit 13 <\/td>\n<\/tr>\n
179<\/td>\n21.2 General definitions
21.3 Functional description
21.4 Use of controlword and statusword
Figure 84 \u2013 Cyclic synchronous torque with commutation angle control function
Figure 85 \u2013 Statusword for cstca mode <\/td>\n<\/tr>\n
180<\/td>\n21.5 Object 60EAh: Commutation angle
22 Support of additional sensor interfaces
22.1 General
Table 287 \u2013 Definition of bit 10, bit 12, and bit 13
Table 288 \u2013 Object description
Table 289 \u2013 Entry description <\/td>\n<\/tr>\n
181<\/td>\n22.2 Object 60E4h: Additional position actual value
Table 290 \u2013 Object description <\/td>\n<\/tr>\n
182<\/td>\n22.3 Object 60E5h: Additional velocity actual value
Table 291 \u2013 Entry description <\/td>\n<\/tr>\n
183<\/td>\n22.4 Object 60E6h: Additional position encoder resolution \u2013 encoder increments
Table 292 \u2013 Object description
Table 293 \u2013 Entry description <\/td>\n<\/tr>\n
184<\/td>\n22.5 Object 60EBh: Additional position encoder resolution \u2013 motor revolutions
Table 294 \u2013 Object description
Table 295 \u2013 Entry description <\/td>\n<\/tr>\n
185<\/td>\nTable 296 \u2013 Object description
Table 297 \u2013 Entry description <\/td>\n<\/tr>\n
186<\/td>\n22.6 Object 60E7h: Additional velocity encoder resolution \u2013 encoder increments per second
Table 298 \u2013 Object description <\/td>\n<\/tr>\n
187<\/td>\n22.7 Object 60ECh: Additional velocity encoder resolution \u2013 motor revolutions per second
Table 299 \u2013 Entry description <\/td>\n<\/tr>\n
188<\/td>\nTable 300 \u2013 Object description
Table 301 \u2013 Entry description <\/td>\n<\/tr>\n
189<\/td>\n22.8 Object 60E8h: Additional gear ratio \u2013 motor shaft revolutions
Table 302 \u2013 Object description
Table 303 \u2013 Entry description <\/td>\n<\/tr>\n
190<\/td>\n22.9 Object 60EDh: Additional gear ratio \u2013 driving shaft revolutions
22.10 Object 60E9h: Additional feed constant \u2013 feed
Table 304 \u2013 Object description
Table 305 \u2013 Entry description <\/td>\n<\/tr>\n
191<\/td>\nTable 306 \u2013 Object description
Table 307 \u2013 Entry description <\/td>\n<\/tr>\n
192<\/td>\n22.11 Object 60EEh: Additional feed constant \u2013 driving shaft revolutions
Table 308 \u2013 Object description
Table 309 \u2013 Entry description <\/td>\n<\/tr>\n
193<\/td>\n23 Optional application FE
23.1 General
23.2 Object 60FDh: Digital inputs
Figure 86 \u2013 Object structure
Table 310 \u2013 Value definition
Table 311 \u2013 Object description <\/td>\n<\/tr>\n
194<\/td>\n23.3 Object 60FEh: Digital outputs
Figure 87 \u2013 Object structure
Table 312 \u2013 Entry description
Table 313 \u2013 Value definition
Table 314 \u2013 Object description <\/td>\n<\/tr>\n
195<\/td>\n24 Device information
24.1 General
24.2 Object 67FEh: Version number
Figure 88 \u2013 Structure of the standard version parameter
Table 315 \u2013 Entry description <\/td>\n<\/tr>\n
196<\/td>\nTable 316 \u2013 Object description
Table 317 \u2013 Entry description <\/td>\n<\/tr>\n
197<\/td>\nBibliography <\/td>\n<\/tr>\n<\/table>\n","protected":false},"excerpt":{"rendered":"

Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 1 specification<\/b><\/p>\n\n\n\n\n
Published By<\/td>\nPublication Date<\/td>\nNumber of Pages<\/td>\n<\/tr>\n
BSI<\/b><\/a><\/td>\n2016<\/td>\n200<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"featured_media":252459,"template":"","meta":{"rank_math_lock_modified_date":false,"ep_exclude_from_search":false},"product_cat":[668,2641],"product_tag":[],"class_list":{"0":"post-252455","1":"product","2":"type-product","3":"status-publish","4":"has-post-thumbnail","6":"product_cat-35-100-05","7":"product_cat-bsi","9":"first","10":"instock","11":"sold-individually","12":"shipping-taxable","13":"purchasable","14":"product-type-simple"},"_links":{"self":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product\/252455","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product"}],"about":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/types\/product"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/media\/252459"}],"wp:attachment":[{"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/media?parent=252455"}],"wp:term":[{"taxonomy":"product_cat","embeddable":true,"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product_cat?post=252455"},{"taxonomy":"product_tag","embeddable":true,"href":"https:\/\/pdfstandards.shop\/wp-json\/wp\/v2\/product_tag?post=252455"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}