INVT SV-DA200 Series - PKW Message Format; Format of PKE Message; AK Task ID; PZD Message Format

SV-DA200 series AC servo drive Communication
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Of which, PKW is used for the transmission of non-cycle data for the configuration of drive
parameters and for the read-write operation. PZD is used in the transmission of cycle data, such as
control word, speed command, position command, torque command or state word, speed response,
position response, torque response; PZD data can be used for the data of transmission configuration
parameters.
PKW message format:
PKW
PKW number(Byte)
1
2
3
4
5
6
7
8
PKE
IND*
1
PWE
*
1
IND is the communication ID (the same as Modbus address), PWE is the parameter value.
Format of PKE message:
PKE
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
AK (task or response
identification ID)
SPM (reserved as 0)
Reserved
AK task ID:
Master station——> slave station
Slave station——> Master station
Task ID
Function
Positive
response ID
Negative response ID
0
No task
0
0
1
Read parameters
1, 2
7
2
Write parameters(single word)
1
7
3
Write parameters(double word)
2
7
13
Write parameters(single word) save EE
1
7
14
Write parameters(double word) save EE
2
7
PZD message format:
PZD
WORD*1
0
1
2
3
4
5
6
7
8
9
10
11
Down
CW
Speed
command
Position
command*2
Torque
command
Reserved
Configuration
setting
Parameter 1
Configuration
setting
Parameter 2
Configuration
setting
Parameter 3
Up
SW
Speed
feedback
Position
feedback
Torque
feedback
Reserved
Configuration
feedback
Parameter 1
Configuration
setting
Parameter 2
Configuration
setting
Parameter 3
*
1
the length of WORD is 16bit.
*
2
the fixed content of PZD is: the position command is P4.12; the speed command is P4.13; the
torque command is P4.14, the speed feedback is R0.21, the position feedback is R0.02 and the
torque feedback is R0.06.