INVT SV-DA200 Series Technical Guide

INVT SV-DA200 AC Servo Drive PROFINET Technical Guide V2.63
9
16#2000
16#03F2
16#0000_01F4
When the written value (1200) exceeds the max. value (1000) of P0.05 (Jog speed), the negative
response ID is 7, and PWE is 2, out of the parameter setting range.
Master node to slave node
PKW number (Byte)
1
2
3
4
5
6
7
8
PKE
IND
PWE
16#2000
16#03F2
16#0000_04B0
Slave node to master node
PKW number (Byte)
1
2
3
4
5
6
7
8
PKE
IND
PWE
16#7000
16#03F2
16#0000_0002
PZD packet format:
PZD
WORD*
1
0
1
2
3
4
5
6
7
8
9
10
11
Downstream
CW
Speed
command
Position
command*
2
Torque
command
Reserved
Configure
reference
parameter 1*
3
Configure
reference
parameter 2
Configure
reference
parameter 3
Upstream
SW
Speed
feedback
Position
feedback
Torque
feedback
Reserved
Configure
feedback
parameter 1
Configure
feedback
parameter 2
Configure
feedback
parameter 3
*
1
The word length is 16 bits.
*
2
The fixed content in PZD has the following relationship in the parameter table: The position command is
P4.12 [Bus position command ]; the speed command is P4.13 [Bus linear speed command]; the torque
command is P4.14 [Bus torque command]; the speed feedback is R0.21 [Transient speed]; the speed
feedback is R0.02 [Feedback pulse accumulation]; the torque feedback is R0.06 [Actual toruqe].
*
3
Reference parameters 1–3 correspond to parameters P4.80–P4.82 [Configuration of PZD setting
parameter n], while feedback parameters 1–3 correspond to P4.85–P4.89 [Configuration of PZD feedback
parameter n].
Each bit of the CW is described in the following table.
Bit
Function
Name
0
Control mode switchover (valid when enabled)
MODE_SWITCH
1
Gain switchover
GAIN_SWITCH
2
Inertia ratio switchover
JRATIO_SWITCH
3
Torque limit switchover
TRQLIMIT_SWITCH
4
Zero-speed clamp
ZCLAMP
5
Clearing residual pulses
POSERR_CLEAR
6
Input switchover for vibration suppression
VIB_SUB
7
Quick stop
QUICK_STOP

INVT SV-DA200 Series Specifications

General

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