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IEC 61800-7-201/301

CiA 402 drive profile updated and extended

Edition 2.0 of the IEC 61800-7 series has been published. Additionally, the CiA 402-4 functional safety extension has been released.

(Photo: CAN in Automation)

THE IEC 61800-7 SERIES CONTAINS among other profiles the CiA 402 profile for electrical drives and motion control. In IEC 61800-7-201, there are specified the modes (e.g. Interpolated position mode, homing mode, etc.) and the related parameters. The updated standard includes the new cycle synchronous torque mode with commutation angle. Besides some editorial improvements, this standard introduces new factor group parameters and supports additional sensor interfaces. Also the touch probe functionality has been updated. The factor group was originally specified in CiA 402 version 1.2, but than withdrawn in the following versions due to misinterpretations. Now the description has been improved.

Besides some minor editorial corrections, the IEC 61800-7-301 standard provides additional mappings of the CiA 402 profile to CC-Link IE and EPA, two Ethernet-based protocols. The CANopen, Ethercat, and Powerlink mappings are the same as in edition 1.0. CiA 402-5, released earlier this year, specified an alternative PDO mapping. This approach is intended for drives supporting both asynchronous and synchronous motors. It uses just one PDO set, which makes it possible to use a single EDS (electronic data sheet) file to control the different motor types.

CAN in Automation (CiA) has not update its CiA 402-1, 402-2, and 402-3 specifications, due to copyright reasons and to avoid inconsistencies with the IEC standards. “The CiA 402 profile is the most implemented standardized drive profile,” said Holger Zeltwanger, CiA Managing Director. “Most of the providers of servo and stepper controllers as well as frequency inverters are using it. You will find it also in many linear drives.” During the last SPS IPC Drives tradeshow, several companies have introduced products supporting CiA 402.

CiA has released the CiA 402-4 specification defining functional safety parameters and the mapping to SRDOs (safety-related data objects). This specification derives from the ETG6100-2 specification. However, the SRDO mapping is CANopen-specific. “Safety torque-off (STO) is just the first step to introduce functional safety into motion control,” explained Zeltwanger. “In CiA 402-4 we have already specified more sophisticated safety functions.” This includes for example safe brake control, safely-limited speed, and safely-limited increments. However, most of the current CiA 402 drives don’t provide safe communication as specified in EN 50325-5 (CANopen Safety). STO is just a local function. The pre-defined SRDO in CiA 402-4 contains the control-word 1 respectively the status-word 1. In case of local safety function, the CiA 402 compliant drive will inform the host controller by means of an SRDO about the performed safety function.

Publish date

CAN in Automation