INVT SV-DA200 Series Technical Guide

INVT SV-DA200 AC Servo Drive PROFINET Technical Guide V2.63
7
P4.10 to take effect.
2. You need to set the slave node (servo drive) device name on the master node (CNC or PLC) or
through P4.44.
3. The servo drive supports the V0 and V0-1 modified protocol versions (supporting PKW+PZD).
4. When P4.48 is set to a non-zero value, you need to set "Set IP address directly on device" on the IO
controller.
2.2 PROFINET communication basis
The drive uses cyclic data to set commands and monitor status to implement real-time control and uses
the non-cyclic communication function for parameterization, diagnosis, and troubleshooting during cyclic
data transmission. The information required in the drive control process includes parameters and process
data. Parameters are non-periodic data, used for control command transmission and servo drive
configuration. Process data is periodic data, used for servo drive control. The servo drive supports the V0
protocol (supporting PKW+PZD and PPO type 5) and V0-1 modified protocol and standard packets.
2.2.1. DP-V0 protocol
DP-V0 is the basic communication protocol version, which supports only cyclic data exchange (MS0
communication). It has only basic configuration, parameter definition and simple diagnostic mechanism.
Periodic packet transmission uses the 32-byte fixed-length transmission method in the following data
format.
0–7 (Byte)
8–31 (Byte)
PKW
PZD
In the data, PKW (parameter channel) is used to transmit non-periodic data to set drive parameters and
can read parameters from and write parameters to the drive.
PZD (process data channel) is used to transmit periodic data, such as CW, speed command, position
command, torque command or SW, speed feedback, position feedback, and torque feedback. PZD can
also carry parameter setting data.
PKW packet format
PKW
PKW number (Byte)
1
2
3
4
5
6
7
8
PKE*
1
IND*
2
PWE*
3
Note:
*
1
PKE is the packet format.
*
2
IND is the parameter communication IND, compliant with the following rules:
(1) It is the same as the Modbus communication address, which is fully in decimal format.
(2) Unless otherwise specified, the address is a 32-bit data address. For example, parameter
P4.13 is bus speed reference, which is the int16 type, but the Modbus addresses of the parameter
are 1826 and 1827.
*
3
PWE is the parameter value.
*
4
Each time only one PKW request is handled, but the servo drive continuously responds until the
controller updates the commands.

INVT SV-DA200 Series Specifications

General

Brand	INVT
Model	SV-DA200 Series
Category	Servo Drives
Language	English