INVT SV-DA200 Series

INVT SV-DA200 AC Servo Drive PROFINET Technical Guide V2.63
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3.3 Speed mode
3.3.1 Basic description
In speed mode, the servo drive (slave node) receives a speed command from the upper computer (master
node), and plans the speed based on acceleration parameter settings.
3.3.2 Operation procedure
1. Set P0.03 [Control mode] (IND = 1006) to 1 [Speed mode].
2. Set P4.13 [Bus speed command] to the target rotation speed (IND = 1826 or Word 1 in PZD) (unit:
rpm).
3. Set P0.54 [ACC time] (IND = 1108) to modify the ACC curve (unit: ms; from 0 to rated rotation speed).
4. Set P0.55 [DEC time] (IND = 1110) to modify the DEC curve (unit: ms; from rated rotation speed to 0).
5. Set CW.bit0 (SERVO_DI_INH) to 1, and then set CW.bit1 (SERVO_ON) to enable the servo drive and
start the motor.
6. Query the SW for corresponding information to obtain the servo drive status feedback (READY, RUN,
SPD_CMD_VALID, SPEED_COIN, and SPEED_AT).
7. Query R0.21 [Transient speed] (IND = 4046) to obtain the actual speed feedback (unit: rpm).
3.3.3 Other objects
1. Set P3.53 [Speed consistency range] (IND = 1706) to modify the range (unit: rpm).
2. Set P3.54 [Speed consistency range] (IND = 1708) to modify the range (unit: rpm).
3. Set P3.55 [Zero-speed range] (IND = 1710) to modify the range (unit: rpm).
4. Set P4.31 [Max. speed limit] (IND = 1862) to modify the limit (unit: rpm).
5. Set P4.39 [Speed out-of-tolerance limit] (IND = 1878) to modify the limit (unit: rpm).
3.4 Torque mode
3.4.1 Basic description
In torque mode, the servo drive (slave node) receives a torque command from the upper computer
(master node), and plans the torque based on parameter settings.
3.4.2 Operation procedure
1. Set P0.03 [Control mode] (IND = 1006) to 2 [Torque mode].
2. Set P0.68 [Torque command RAMP time] (IND = 1136) to modify the torque planning time (unit: ms
from 0 to 100% of rated torque).
3. Set P4.14 [Bus speed command] to the target torque (IND = 1828 or Word 4 in PZD) (unit: 0.1% of
rated torque).
4. Set P0.46 [Speed limit 1] (IND = 1092) to modify the limit (unit: rpm).
5. Set CW.bit0 (SERVO_DI_INH) to 1, and then set CW.bit1 (SERVO_ON) to enable the servo drive and
start the motor.
6. Query the SW for corresponding information to obtain the servo drive status feedback (READY, RUN,
SPEED_LIMITING, and TORQUE_LIMITING).
7. Query R0.06 [Actual torque] (IND = 4016) to obtain the actual torque output (unit: 0.1% of rated
torque).