Device profile for drives and motion control – Part 1: General definitions
CiA 2007 – All rights reserved 3
CONTENTS
1 Scope ...............................................................................................................................4
2 Normative references........................................................................................................4
3 Abbreviations and definitions ............................................................................................4
3.1 Abbreviations........................................................................................................... 4
3.2 Definitions ...............................................................................................................4
4 Introduction.......................................................................................................................4
5 Mapping of general architecture ........................................................................................5
5.1 Typical structure of automation system ....................................................................5
5.2 Structure of the logical PDS.....................................................................................5
5.3 Use cases of the PDS ..............................................................................................5
5.3.1 General .......................................................................................................5
5.3.2 Use case engineering ..................................................................................6
5.3.3 Use case operation-control ..........................................................................6
6 Functional elements ..........................................................................................................6
6.1 Device identification FE ...........................................................................................6
6.1.1 General .......................................................................................................6
6.1.2 Parameters ..................................................................................................6
6.2 Device control FE ....................................................................................................6
6.2.1 General .......................................................................................................6
6.2.2 I/O data .......................................................................................................7
6.2.3 States ..........................................................................................................7
6.2.4 Parameters ..................................................................................................7
6.3 Communication FE ..................................................................................................7
6.3.1 General .......................................................................................................7
6.3.2 I/O data .......................................................................................................7
6.3.3 States ..........................................................................................................8
6.3.4 Parameters ..................................................................................................8
6.4 Basic drive FE .........................................................................................................8
6.4.1 General .......................................................................................................8
6.4.2 I/O data .......................................................................................................8
6.4.3 States ..........................................................................................................8
6.4.4 Parameters ..................................................................................................8
6.5 Optional application functions FE.............................................................................9
6.5.1 General .......................................................................................................9
6.5.2 I/O data .......................................................................................................9
6.5.3 Parameters ..................................................................................................9
7 Application modes.............................................................................................................9
7.1 General ...................................................................................................................9
7.2 Torque control .......................................................................................................10
7.3 Velocity control ...................................................................................................... 11
7.4 Position control...................................................................................................... 13
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