IEC 61491:2002

FOREWORD
1 Scope
2 Normative references
3 Definitions and abbreviations
   3.1 Definitions
   3.2 Abbreviations
4 General requirements
   4.1 Overview
   4.2 System overview
         4.2.1 Operating modes
         4.2.2 Transmission modes
         4.2.3 Data contents
         4.2.4 Data block
         4.2.5 Telegram structure
   4.3 Data transmission
         4.3.1 Access to the transfer medium
         4.3.2 Communication cycle
         4.3.3 Non-cyclic data transfer
         4.3.4 Procedure commands
   4.4 Initialization
   4.5 Error and status messages
5 Transfer medium and physical layer
   5.1 General
   5.2 Topology
         5.2.1 Line connection between the control unit and
                the drives
         5.2.2 Structure of the transmission lines
   5.3 Optical signals on the transmission line
         5.3.1 Transmitter specifications
         5.3.2 Receiver specifications
         5.3.3 Fibre optic cable
         5.3.4 Connectors
         5.3.5 System data of the optical transmission path
   5.4 Time performance of bit transmission
         5.4.1 Master and slave in test mode
         5.4.2 Data rate
         5.4.3 Input-output performance of the slave
         5.4.4 Idealized waveform
   5.5 Bit coding
   5.6 Telegrams and fill characters
   5.7 Connection to the optical fibre
         5.7.1 Master connection
         5.7.2 Slave connection
         5.7.3 Interactions of the connections
6 Data transfer and data link layer
   6.1 General
   6.2 Telegram structure
         6.2.1 Telegram delimiters
         6.2.2 Bit stuffing
         6.2.3 Address field
         6.2.4 Data field
         6.2.5 Frame check sequence (FCS) field
         6.2.6 Order of bit transmission
         6.2.7 Invalid telegrams
   6.3 Timing of the transmission (communication cycles)
         6.3.1 Transfer medium access
         6.3.2 Time parameters
7 Protocol structure
   7.1 General
   7.2 General protocol structure
         7.2.1 Administrative segment
         7.2.2 Data field
   7.3 Cyclic data exchange (CP[4] )
         7.3.1 Master synchronization telegram (MST)
         7.3.2 Master data telegram (MDT)
         7.3.3 Drive telegram (AT)
         7.3.4 Timing diagram for cyclic operation
         7.3.5 Real-time bits
   7.4 Non-cyclic data exchange (service channel)
         7.4.1 General
         7.4.2 Service channel transport mechanism
         7.4.3 Service channel initialization
         7.4.4 Procedure command functions via the service
                channel
8 Data contents
   8.1 Data types and data structure
         8.1.1 General data
         8.1.2 Data terms
         8.1.3 Data block structure
   8.2 General parameters
         8.2.1 Communication parameters
         8.2.2 Transmission starting times and transfer
                timeslots
         8.2.3 Diagnostics
         8.2.4 IDN-lists of operation data
         8.2.5 Internal and external signals (bits)
         8.2.6 Manufacturer specifications
   8.3 Definition of telegram contents
         8.3.1 Standard telegrams
         8.3.2 Configuration of the MDT (application telegram)
         8.3.3 Configuration of the AT (application telegram)
   8.4 Drive operation modes
   8.5 Standard operation data
         8.5.1 Position data
         8.5.2 Velocity data
         8.5.3 Torque data
         8.5.4 Acceleration data
         8.5.5 Procedure commands and data for homing
                procedures
         8.5.6 Machine specific procedure commands and data
   8.6 Scaling of operation data
         8.6.1 Scaling of position data
         8.6.2 Scaling of velocity data
         8.6.3 Scaling of torque/force data
         8.6.4 Scaling of acceleration data
         8.6.5 Scaling of temperature data
   8.7 Drive parameters
         8.7.1 Velocity loop parameters
         8.7.2 Position loop parameters
         8.7.3 Current loop parameters
         8.7.4 Drive limit values
         8.7.5 General drive parameters
         8.7.6 Spindle parameters
         8.7.7 Spindle synchronous operation
         8.7.8 Electronic gearing
   8.8 Mechanics
         8.8.1 Feedback systems
         8.8.2 Feed constant
         8.8.3 Gear train
         8.8.4 Parameter sets and gear ratios
9 Initialization of the SYSTEM interface
   9.1 General
   9.2 Communication phase 0 (CP[0])
         9.2.1 Structure of the telegrams
         9.2.2 Telegram transmission timing
         9.2.3 Leaving communication phase 0 (CP[0])
   9.3 Communication phase 1 (CP[1])
         9.3.1 Operational sequence in phase 1 (CP[1])
         9.3.2 Structure of the telegrams
         9.3.3 Telegram transmission timing
         9.3.4 Leaving communication phase 1 (CP[1])
   9.4 Communication phase 2 (CP[2])
         9.4.1 Structure of the telegrams
         9.4.2 Telegram transmission timing
         9.4.3 Leaving communication phase 2 (CP[2])
   9.5 Communication phase 3 (CP[3])
         9.5.1 Structure of the telegrams
         9.5.2 Telegram transmission timing
         9.5.3 Leaving communication phase 3 (CP[3])
   9.6 Communication phase 4 (CP[4]) - end of initialization
         9.6.1 Structure of the telegrams
         9.6.2 Telegram transmission timing
         9.6.3 Leaving communication phase 4 (CP[4])
10 Error handling
   10.1 Drive safety functions
   10.2 Failure of telegrams
         10.2.1 Failure of a telegram (MST, MDT, AT)
   10.3 Changing the communication phases
         10.3.1 Ascending communication phases
         10.3.2 Descending communication phases
   10.4 Monitoring (overview)
         10.4.1 Monitoring in the master
         10.4.2 Monitoring in the drive (slave)
   10.5 Reaction to handshake timeout
   10.6 Reaction to error messages in the service channel
   10.7 Error counters in the master and the slave
11 Functional sequences
   11.1 General
   11.2 Allocation of real-time bits
   11.3 Homing
         11.3.1 Drive-controlled homing procedure command
         11.3.2 Control unit controlled homing procedure command
   11.4 Measurements
   11.5 Position spindle procedure command
         11.5.1 Positioning when the function is started
         11.5.2 New position values while the procedure
                command is active
         11.5.3 Switching the positioning mode angle
                position/relative offset while the procedure
                command is active
   11.6 Switching of parameter sets and the gear ratio
   11.7 Starting/stopping functions
         11.7.1 Start-up
         11.7.2 Shut-down
         11.7.3 Shut-down due to error
   11.8 Park axis procedure command
   11.9 Positive stop drive procedure command
   11.10 Drive-controlled synchronous operation procedure command
         11.10.1 Synchronization of the synchronous spindle to
                 the lead spindle with a fixed angular offset
         11.10.2 New synchronous position offset after
                 synchronization
         11.10.3 New speed ratio after synchronization
   11.11 Drive-controlled gear-engaging procedure command
Annex A (normative) Identification numbers in numerical order
Annex B (normative) Identification numbers in alphabetical order
Annex C (normative) Description of IDNs
Annex D (normative) SYSTEM interface -Compliance classes
   D.1 Introduction
   D.2 SYSTEM interface required parameters for compliance
         class A
   D.3 SYSTEM interface compliance class B
   D.4 SYSTEM interface compliance class C
   D.5 Additional functions
   D.6 Communication cycle times
Annex E (normative) Coded character set
Annex F (informative) Functional principles of the repeater
         circuit
Annex G (informative) Attenuation on the transmission line
Annex H (informative) Determination of the transmission timeslots
   H.1 Determination of AT transmission starting time (t[1])
   H.2 Determination of MDT transmission starting time (t[2])
   H.3 Maximum duration of the telegrams
Annex I (informative) Processing operation data
Annex J (informative) Procedure command execution
Annex K (informative) Additional scaling
   K.1 Additional scaling of position data
   K.2 Additional scaling of velocity data
   K.3 Additional scaling of torque/force data
   K.4 Additional scaling of acceleration data
   K.5 Extended scaling parameters
Figures
Tables