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Electrical equipment of industrial machines. Serial data link for real-time communication between controls and drives
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Available format(s): Hardcopy, PDF
Superseded date: 30-04-2010
Language(s): English
Published date: 15-03-1999
Publisher: British Standards Institution
Clause1 Scope2 Normative references3 Definitions and abbreviations3.1 Definitions3.2 Abbreviations4 General requirements4.1 Overview4.2 System overview4.3 Data transmission4.4 Initialization4.5 Error and status messages5 Transfer medium and physical layer5.1 General5.2 Topology5.3 Optical signals on the transmission line5.4 Time performance of bit transmission5.5 Bit coding5.6 Telegrams and fill characters5.7 Connection to the optical fibre6 Data transfer and data link layer6.1 General6.2 Telegram structure6.3 Timing of the transmission (communication cycles)7 Protocol structure7.1 General7.2 General protocol structure7.3 Cyclic data exchange (CP4)7.4 Non-cyclic data exchange (service channel)8 Data contents8.1 Data types and data structure8.2 General parameters8.3 Definition of telegram contents8.4 Drive operation modes8.5 Standard operation data8.6 Scaling of operation data8.7 Drive parameters8.8 Mechanics9 Initialization of the SYSTEM interface9.1 General9.2 Communication phase 0 (CP0)9.3 Communication phase 1 (CP1)9.4 Communication phase 2 (CP2)9.5 Communication phase 3 (CP3)9.6 Communication phase 4 (CP4) - end of initialization10 Error handling10.1 Drive safety functions10.2 Failure of telegrams10.3 Changing the communication phases10.4 Monitoring (overview)10.5 Reaction to handshake time out10.6 Reaction to error messages in the service channel10.7 Error counters in the master and the slave11 Functional sequences11.1 General11.2 Allocation of real-time bits11.3 Homing11.4 Measurements11.5 Position spindle procedure command11.6 Switching of parameter sets and the gear ratio11.7 Starting/stopping functions11.8 Park axis procedure command11.9 Positive stop drive procedure command11.10 Drive controlled synchronous operation procedure command11.11 Drive controlled gear engaging procedure commandAnnexesA Identification numbers in numerical orderB Identification numbers in alphabetical orderC Description of IDNsD SYSTEM interface - Compliance classesE Coded character setF Functional principles of the repeater circuitG Attenuation on the transmission lineH Determination of the transmission timeslotsI Processing operation dataJ Procedure command executionK Additional scalingZA Normative references to international publications with their corresponding European publicationsTables1 Typical operation data for cyclic transmission2 Typical data for non-cyclic transmission3 Transmitter specifications (all data for p)4 Receiver specifications (all data for p)5 Cable specifications6 System data of the optical transmission line7 Transmission data parameters8 Possible slave input signals9 Possible slave output signals10 Valid slave output signals11 Specifications of the clock adjustment times12 Basic functions of the connection13 Address field values during transmitting14 Address field values during reception15 Error messages16 Procedure command control17 Procedure command acknowledgement (data status)18 Loss or failure of master synchronization telegram (MST)19 Failure of master data telegrams (MDT)20 Failure of drive telegrams (AT)21 States of error counters 1 in the master for MST and AT failures22 States of error counter 1 in the drives for MST-failures in CP3 and CP423 States of error counter 1 in the drives for MDT-failures in CP4 24 States of error counters 2 in the master for AT-failures25 States of error counter 2 in the drives for MST-failures26 States of error counter 2 in the drives for MDT-failuresC.1 Structure of drive operation modesFigures1 Topology2 Operation modes3 Overview of data field structure (CP3 and CP4)4 Transfer layers5 Timed access method6 Communication cycle7 Topology8 Optical transmission line9 Structure of a single-core cable (example)10 Optical signal envelope11 Display of jitter (j noise)12 Input-output performance of a slave13 Example of an NRZI-coded signal14 General telegram structure15 Fill signal16 Functions of a master connection17 Valid transmitting signals during transitions from fill signal to telegram delimiters18 Valid transmitting signals during transitions from telegram delimiters to fill signals19 Functions of a slave connection20 Ring with two slaves21 Access to the transfer medium22 Required time intervals between telegrams23 Validity of command values and feedback acquisition time in the drives24 Data block structure25 Data fields of the Master Data Telegram26 Data field of the Drive Telegram27 Structure of the Master Synchronization Telegram28 BOF field29 ADR field30 INFO field31 FCS field32 EOF field33 Structure of the Master Data Telegram34 Master service INFO field k35 Operation data of the MDT36 Example of MDT (with data records of standard telegram 2 for velocity control operation mode)37 Structure of the Drive Telegram38 Drive service INFO field m39 Operation data of the AT40 Example of a Drive Telegram (standard telegram 2 for velocity control operation mode)41 Timing diagram for cyclic operation42 Function of the real-time bits43 Service channel data transport scheme44 Service channel handling diagram45 Communications step proceeding diagram46 State machine for procedure command execution47 Procedure command execution without interrupt48 Procedure command execution with interrupt49 Procedure command execution with error message50 Timing diagram for CP3/451 Position data scaling type diagram52 Velocity data scaling type diagram53 Torque/force data scaling type diagram54 Acceleration data scaling type diagram55 Adaptation of the velocity proportional gain56 Adaptation of the velocity integral action time57 Synchronous spindle operation diagram (example)58 Electronic gearing diagram (example)59 Timing diagram for CP060 Structure of the ID request telegram61 Structure of the ID acknowledge telegram 62 Telegram transmission starting times of CP1 and CP263 Allocation of IDN +0 to the real-time bits (No other allocation was active before)64 Allocation of IDN =0 to the real-time bits (other allocation was active before)65 Allocation of IDN +0 to the real-time bits (other allocation was active before)66 Bit sequence for drive controlled homing67 Drive controlled homing diagram68 Bit sequence for control unit controlled homing (case 1)69 Bit sequence for control unit controlled homing (case 2.1)70 Bit sequence for control unit controlled homing (case 2.2)71 Incremental feedback system72 Distance-coded feedback system73 Bit sequence to achieve the displacement to the referenced system74 Bit sequence for measuring75 Velocity diagram for spindle positioning (Velocity feedback > spindle positioning speed)76 Velocity diagram for spindle positioning (Velocity feedback < spindle positioning speed)77 Velocity diagram for spindle positioning (Velocity feedback = 0)
Defines real-time optical serial interface for equipment from different manufacturers operating in torque, velocity, or position interface operating modes.
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