INVT SV-DA200 User Manual

SV-DA200 series AC servo drives Communication
‐230‐
PROFIBUS cycle transmission message applies 32 Byte transmission modes and the data format is
as below:
0~7 (Byte) 8~31 (Byte)
PKW PZD
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 876543210
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
To rq ue
command
Reserved
Configuration
setting
Parameter 1
Configuration
setting
Parameter 2
Configuration
setting
Parameter 3
Up SW
Speed
feedback
Position
feedback
To rq ue
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

INVT SV-DA200 Specifications

General

Brand	INVT
Model	SV-DA200
Category	Servo Drives
Language	English