BS EN 61491:1999

Clause
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
4.3 Data transmission
4.4 Initialization
4.5 Error and status messages
5 Transfer medium and physical layer
5.1 General
5.2 Topology
5.3 Optical signals on the transmission line
5.4 Time performance of bit transmission
5.5 Bit coding
5.6 Telegrams and fill characters
5.7 Connection to the optical fibre
6 Data transfer and data link layer
6.1 General
6.2 Telegram structure
6.3 Timing of the transmission (communication cycles)
7 Protocol structure
7.1 General
7.2 General protocol structure
7.3 Cyclic data exchange (CP4)
7.4 Non-cyclic data exchange (service channel)
8 Data contents
8.1 Data types and data structure
8.2 General parameters
8.3 Definition of telegram contents
8.4 Drive operation modes
8.5 Standard operation data
8.6 Scaling of operation data
8.7 Drive parameters
8.8 Mechanics
9 Initialization of the SYSTEM interface
9.1 General
9.2 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 initialization
10 Error handling
10.1 Drive safety functions
10.2 Failure of telegrams
10.3 Changing the communication phases
10.4 Monitoring (overview)
10.5 Reaction to handshake time out
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
11.4 Measurements
11.5 Position spindle procedure command
11.6 Switching of parameter sets and the gear ratio
11.7 Starting/stopping functions
11.8 Park axis procedure command
11.9 Positive stop drive procedure command
11.10 Drive controlled synchronous operation procedure command
11.11 Drive controlled gear engaging procedure command
Annexes
A Identification numbers in numerical order
B Identification numbers in alphabetical order
C Description of IDNs
D SYSTEM interface - Compliance classes
E Coded character set
F Functional principles of the repeater circuit
G Attenuation on the transmission line
H Determination of the transmission timeslots
I Processing operation data
J Procedure command execution
K Additional scaling
ZA Normative references to international publications with
     their corresponding European publications
Tables
1 Typical operation data for cyclic transmission
2 Typical data for non-cyclic transmission
3 Transmitter specifications (all data for p)
4 Receiver specifications (all data for p)
5 Cable specifications
6 System data of the optical transmission line
7 Transmission data parameters
8 Possible slave input signals
9 Possible slave output signals
10 Valid slave output signals
11 Specifications of the clock adjustment times
12 Basic functions of the connection
13 Address field values during transmitting
14 Address field values during reception
15 Error messages
16 Procedure command control
17 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 failures
22 States of error counter 1 in the drives for MST-failures
     in CP3 and CP4
23 States of error counter 1 in the drives for MDT-failures
     in CP4
24 States of error counters 2 in the master for AT-failures
25 States of error counter 2 in the drives for MST-failures
26 States of error counter 2 in the drives for MDT-failures
C.1 Structure of drive operation modes
Figures
1 Topology
2 Operation modes
3 Overview of data field structure (CP3 and CP4)
4 Transfer layers
5 Timed access method
6 Communication cycle
7 Topology
8 Optical transmission line
9 Structure of a single-core cable (example)
10 Optical signal envelope
11 Display of jitter (j noise)
12 Input-output performance of a slave
13 Example of an NRZI-coded signal
14 General telegram structure
15 Fill signal
16 Functions of a master connection
17 Valid transmitting signals during transitions from
     fill signal to telegram delimiters
18 Valid transmitting signals during transitions from
     telegram delimiters to fill signals
19 Functions of a slave connection
20 Ring with two slaves
21 Access to the transfer medium
22 Required time intervals between telegrams
23 Validity of command values and feedback acquisition time
     in the drives
24 Data block structure
25 Data fields of the Master Data Telegram
26 Data field of the Drive Telegram
27 Structure of the Master Synchronization Telegram
28 BOF field
29 ADR field
30 INFO field
31 FCS field
32 EOF field
33 Structure of the Master Data Telegram
34 Master service INFO field k
35 Operation data of the MDT
36 Example of MDT (with data records of standard telegram
     2 for velocity control operation mode)
37 Structure of the Drive Telegram
38 Drive service INFO field m
39 Operation data of the AT
40 Example of a Drive Telegram (standard telegram 2 for
     velocity control operation mode)
41 Timing diagram for cyclic operation
42 Function of the real-time bits
43 Service channel data transport scheme
44 Service channel handling diagram
45 Communications step proceeding diagram
46 State machine for procedure command execution
47 Procedure command execution without interrupt
48 Procedure command execution with interrupt
49 Procedure command execution with error message
50 Timing diagram for CP3/4
51 Position data scaling type diagram
52 Velocity data scaling type diagram
53 Torque/force data scaling type diagram
54 Acceleration data scaling type diagram
55 Adaptation of the velocity proportional gain
56 Adaptation of the velocity integral action time
57 Synchronous spindle operation diagram (example)
58 Electronic gearing diagram (example)
59 Timing diagram for CP0
60 Structure of the ID request telegram
61 Structure of the ID acknowledge telegram
62 Telegram transmission starting times of CP1 and CP2
63 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 homing
67 Drive controlled homing diagram
68 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 system
72 Distance-coded feedback system
73 Bit sequence to achieve the displacement to the referenced
     system
74 Bit sequence for measuring
75 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.