INVT SV-DA200 Series Quick start guide

SV-DA200 Series AC Servo Drive
——CANopen
July 26, 2017
Technical Guide

INVT SV-DA200 Servo Drive CANopen Technical Guide Contents
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Contents
Contents..............................................................................................................................................................................i
1 Hardware configuration ..............................................................................................................................................1
1.1 Terminal wiring.......................................................................................................................................................................................1
1.2 Baud rate setting......................................................................................................................................................................................1
1.3 Precautions..............................................................................................................................................................................................1
2 Software configuration................................................................................................................................................2
2.1 Basic settings for using CANopen ..........................................................................................................................................................2
2.2 CANopen basics......................................................................................................................................................................................2
2.3 Supported basic protocols .......................................................................................................................................................................3
2.3.1 NMT..............................................................................................................................................................................................3
2.3.2 SYNC ............................................................................................................................................................................................4
2.3.3 SDO...............................................................................................................................................................................................4
2.3.4 PDO...............................................................................................................................................................................................5
2.3.5 EMCY ...........................................................................................................................................................................................7
2.3.6 Node Guarding ..............................................................................................................................................................................7
2.3.7 Heartbeat .......................................................................................................................................................................................7
2.4 Unsupported protocol..............................................................................................................................................................................7
3 Operation modes ..........................................................................................................................................................8
3.1 Profile Position Mode .............................................................................................................................................................................8
3.1.1 Basic description............................................................................................................................................................................8
3.1.2 Operation procedure ......................................................................................................................................................................8
3.1.3 Other objects..................................................................................................................................................................................8
3.1.4 List of objects related to this operation mode................................................................................................................................9
3.1.5 Control word (6040) of Profile Position Mode............................................................................................................................10
3.1.6 Status word (6041) of Profile Position Mode ..............................................................................................................................10
3.1.7 Application example....................................................................................................................................................................10
3.2 Interpolation Position Mode..................................................................................................................................................................12
3.2.1 Basic description..........................................................................................................................................................................12
3.2.2 Operation procedure ....................................................................................................................................................................12
3.2.3 List of objects related to this operation mode..............................................................................................................................12
3.2.4 Application example....................................................................................................................................................................13
3.3 Homing Mode .......................................................................................................................................................................................13
3.3.1 Basic description..........................................................................................................................................................................13
3.3.2 Operation procedure ....................................................................................................................................................................13
3.3.3 List of objects related to this operation mode..............................................................................................................................13
3.3.4 Application example....................................................................................................................................................................14
3.3.5 Statusword of homing mode........................................................................................................................................................14
3.4 Velocity Mode.......................................................................................................................................................................................14
3.4.1 Basic description..........................................................................................................................................................................14
3.4.2 Operation procedure ....................................................................................................................................................................14
3.4.3 Other objects................................................................................................................................................................................15
3.4.4 List of objects related to this operation mode..............................................................................................................................15
3.5 Profile Velocity Mode ...........................................................................................................................................................................15
3.5.1 Basic description..........................................................................................................................................................................15
3.5.2 Operation procedure ....................................................................................................................................................................15
3.5.3 Other objects................................................................................................................................................................................15
3.5.4 List of objects related to this operation mode..............................................................................................................................16
3.5.5 Application example....................................................................................................................................................................16
3.6 Profile Torque Mode .............................................................................................................................................................................16
3.6.1 Basic description..........................................................................................................................................................................16
3.6.2 Operation procedure ....................................................................................................................................................................16
3.6.3 Other objects................................................................................................................................................................................16
3.6.4 List of objects related to this operation mode..............................................................................................................................17
3.6.5 Application example....................................................................................................................................................................17
4 Object dictionary.........................................................................................................................................................18
4.1 Object specification description............................................................................................................................................................18
4.1.1 Object type ..................................................................................................................................................................................18
4.1.2 Data type......................................................................................................................................................................................18
4.2 Overview of Object Group 1000h..........................................................................................................................................................18
4.3 Overview of Object Group 6000h..........................................................................................................................................................18
4.4 Overview of Object Group 2000h..........................................................................................................................................................20
4.5 Detail of Object 6040h...........................................................................................................................................................................20
4.6 Detail of Object 6041h...........................................................................................................................................................................21
4.7 Detail of Object 6060h...........................................................................................................................................................................22
4.8 Other objects.........................................................................................................................................................................................22
5 Faults and diagnosis..................................................................................................................................................25
5.1 Information format of CANopen communication faults .......................................................................................................................25
5.2 CANopen communication faults and solutions.....................................................................................................................................25
5.3 SV-DA200 servo faults and fault codes.................................................................................................................................................26
5.4 SDO Abort Codes..................................................................................................................................................................................28
6 References....................................................................................................................................................................29

INVT SV-DA200 Servo Drive CANopen Technical Guide 1 Hardware configuration
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1 Hardware configuration
1.1 Terminal wiring
The CAN communication terminal is on the front panel of an SV-DA200 servo drive, named CN3. The CN3
terminal is a dual-port RJ45 socket, and the the pins of the two ports are numbered in the same way.
The following figure shows the pins and the table describes the functions of the pins.
CN3 port functions
Pin No.
Name
Function
Remarks
1
5V
Power supply
485 and CAN share
one interface. Each
signal corresponds to
two pins, facilitating
the networking of
multiple servo drives.
2
GND
Power ground
3
/
CANL data cable
4
RS485+
RS485 data cable
+
5
RS485-
RS485 data cable -
6
/
/
7
CAN_L
CAN data cable -
8
CAN_H
CAN data cable +
1.2 Baud rate setting
The following table describes multiple baud rates and their corresponding maximum transmission
distance.
Communication
baud rate
Communication
distance
1Mbit/s
25m
500kbit/s (Default)
100m
250kbit/s
250m
125kbit/s
500m
50kbit/s
1000m
20kbit/s
2500m
1.3 Precautions
1. All slave stations must be wired in series connection mode instead of star connection mode.
2. A terminal resistor of 120 Ω must be connected between the master station and the last node of a slave
station.
3. The sample point of the master station CAN communication must be set to 80%.
4. To avoid interference, you are advised to use shielded twisted pairs (STP) as CAN connection cables.
5. A longer connection cable requires a CAN chip with higher drive capability.

INVT SV-DA200 Servo Drive CANopen Technical Guide 2 Software configuration
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2 Software configuration
2.1 Basic settings for using CANopen
Before using CANopen on a common SV-DA200 servo drive, you need to set the following three
parameters:
1. Set P0.03 (Control mode selection) to 7(CANopen mode) through the LED panel or ServoPlorer
software setting.
2. Set P4.02 (CAN communication baud rate) through the LED panel or ServoPlorer software setting (0:
1Mbps; 1: 500kbps; 2: 250kbps; 3: 125kbps; 4: 50kbps; 5: 20kbps).
3. Set P4.05 (CAN communication node) through the LED panel or ServoPlorer software setting (value
range: 1–127).
Note:
1. These settings of the three parameters described above take effect after restart. Power on or perform
soft reset on the drive after modifying these parameters.
2. The number of a slave station (servo drive) node cannot be the same as that of a master station node
(CNC or PLC) or that of another slave station.
3. A synchronizing signal is generally generated by the master station, but you can configure a slave
station to generate synchronizing signal. Set the unit of the synchronous communication period to 1 us.
The minimum period unit supported by SV-DA200 is 1000 us, that is, 1 ms.
4. The 0x1017 parameter needs to be set if the master station needs a slave station to transmit heartbeat
packets. The unit is 1 ms.
5. When a CANopen state machine exit from the OP state, the drive automatically turns off the "Enable"
signal.
6. It is recommended that the PDO transmission type be set to synchronous transmission. For details,
see the description in the PDO section.
2.2 CANopen basics
CANopen is a high-level communication protocol based on the Control Area Network (CAN)
communication protocol, including the communication sub-protocol and device sub-protocol. CANopen is
usually used in embedded systems and is also a common fieldbus used in industrial control. The basic
CANopen device and communication sub-protocols are defined in CAN inAutomation (CiA) draft standard 301.
Sub-protocols are extended based on CiA 301 for special devices, such as CiA 402 for motion control.
CANopen frame structure:
To reduce the configuration workload of simple networks, CANopen defines a mandatory default identifier
(CANID) assignment table.
The default ID assignment table is an 11-bit CAN ID defined based on CANopen 2.0A, including a 4-bit
function code and a 7-bit node ID, as shown in the following figure.

INVT SV-DA200 Servo Drive CANopen Technical Guide 2 Software configuration
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10 9 8 7 6 5 4 3 2 1 0
Function Code Node-ID
Node IDs are defined by the system integrator. The node IDs of SV-DA200 can be modified through the
panel or PC software. The node IDs range from 1 to 127 (0 cannot be used).
Function Code: Data transmission function code, defines the transmission levels of various PDO, SDO,
and management packets.A smaller function code indicates a higher priority.
2.3 Supported basic protocols
As a standard slave station of CANopen, an SV-DA200 servo drive supports the 301 standard protocol
and some parameters of the 402 motion control protocol.
The supported basic CANopen protocols include NMT, SYNC, SDO, PDO, and EMCY.
The predefined connection set defines 4 Receive-PDOs, 4 Transmit-PDOs, 1 SDO (occupying 2
CAN-IDs), 1 emergency object, and 1 Node-Error-Control ID.
Broadcast objects in the CANopen predefined master/slave connection set
Object
Function code
(ID-bits 10-7)
COB-ID
Index of communication
parameter in OD
NMT Module Control
0000
000h
-
SYNC
0001
080h
1006h, 1007h
Equivalent objects of the CANopen master/slave connection set
Object
Function code
(ID-bits 10-7)
COB-ID
Index of communication
parameter in OD
EMCY
0001
081h –0FFh
1014h, 1015h
TPDO1
0011
181h –1FFh
1800h
RPDO1
0100
201h –27Fh
1400h
TPDO2
0101
281h –2FFh
1801h
RPDO2
0110
301h –37Fh
1401h
TPDO3
0111
381h –3FFh
1802h
RPDO3
1000
401h –47Fh
1402h
TPDO4
1001
481h –4FFh
1803h
RPDO4
1010
501h –57Fh
1403h
SDO (Tx/Server)
1011
581h –5FFh
1200h
SDO (Rx/Client)
1100
601h –67Fh
1200h
NMT Error Control
1110
701h –77Fh
1016h, 1017h
2.3.1 NMT
The NMT protocol is used to control the network behavior of CANopen NMT slave station devices. Both
private network members and common network members switch slave state machines through the NMT
protocol. All CANopen devices assess the received NMT commands. Only CANopen devices with the NMT
master station functions can transmit NMT messages.
Slave station state switching diagram

INVT SV-DA200 Servo Drive CANopen Technical Guide 2 Software configuration
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Initialising
(f)
Pre-Operational
(a,b,c,d)
Operational
(a,b,c,d,e)
Stopped
(a,b)
Power-On
5
6
1 3
1
2
2
3
4
After being started, the servo drive automatically switches from Initialising to Pre-Operational. To start a
slave station, the master station needs to transmit an NMT command of starting a slave node. After receiving
the command, the slave station switches from Pre-Operational to Operational.
PDO can be modified only in non-Operational state.
2.3.2 SYNC
The network behavior of synchronization can be implemented through the SYNC protocol. SYNC
messages transmitted periodically are used to instruct receivers to start specific behavior that is related to the
receiving of the SYNC messages. For synchronous PDOs, an SYNC message is a triggering event of PDO
transmission and also can be an instruction of exchanging valid data received before the SYNC message is
received.
SV-DA200 servo drives support only the default COB-ID (0x80) of SYNC frames. The COB-ID of SYNC frames
cannot be modified.
2.3.3 SDO
Service data objects (SDO) are used to access items in the CANopen object dictionary. An SDO
establishes a point-to-point communication channel between two devices. In addition, the SDO protocol can be
used to transmit any amount of data in segments. Therefore, the SDO protocol is mainly used for transmitting
configuration data. An SDO connection between two devices can be established by configuring the related
SDO server and client channel.
The commands of the SDO protocol are transmitted between the master station and slave stations, and
include 8-byte data. Information such as data length is also added, which ensures operation reliability but also
occupies some data length. SDO commands are transmitted at a relatively low rate, and are used for
parameter modification or monitoring, of which the rate requirement is lower.
Example of reading or writing a word
►Parameter modification
The master station transmits a packet.
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x600+Node_ID
8
Transmits a
command
word
Object
index
Object
sub-index
**

INVT SV-DA200 Servo Drive CANopen Technical Guide 2 Software configuration
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The maximum length of ** is 4 bytes, that is, 32 bits.
The slave station returns a packet.
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x580+Node_ID
8
Transmits a
command
word
Object
index
Object
sub-index
**
If the parameter is successfully modified, the command word is 0x60; if the modification fails, the
command word is 0x80, and ** is a fault code.
►Parameter reading
The master station transmits a packet.
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x600+Node_ID
8
Transmits a
command
word
Object
index
Object
sub-index
00
The transmitted command word is 0x40.
The slave station returns a packet.
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x580+Node_ID
8
Transmits a
command
word
Object
index
Object
sub-index
**
The maximum length of ** is 4 bytes, that is, 32 bits.
When the data length is 1 byte, the command word is 0x4F.
When the data length is 2 bytes, the command word is 0x4B.
When the data length is 4 bytes, the command word is 0x43.
2.3.4 PDO
A process data object (PDO) includes a CAN frame with a data length of 8 bytes, which are all used to
transmit data. The content of the data is predefined in the object dictionary, and generally PDOs are not
responded. Therefore, the communication efficiency and rate are higher. PDOs are divided into Receive-PDOs
(RPDOs) and Transmit-PDOs (TPDOs) received and transmitted by the master station, and are used for
control and monitoring in scenarios where the requirements on time is higher.
PDOs can be transmitted and received in the following modes: asynchronous time triggering,
asynchronous event triggering, cyclic synchronization, acyclic synchronization, and remote request.
Transmission type
PDO Transmission
cyclic
acyclic
synchronous
asynchronous
RTR only
0
X
X
1-240
X
X
241-251
reserved
252
X
X
253
X
X
254
X
255
X
1. Synchronous PDOs (triggered by synchronous packets, of the 0–240 and 252 transmission types)
For synchronous PDO transmission, the master station must have the capability of transmitting

INVT SV-DA200 Servo Drive CANopen Technical Guide 2 Software configuration
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synchronous packets (transmitting the packets at a maximum frequency of 1 kHz).A servo transmits data after
receiving a synchronous packet.
For TPDOs: Acyclic (0), the servo transmits data only once after receiving a synchronous packet; cyclic
(1–240), the servo transmits data once after receiving n synchronous packets; (252), the servo is triggered,
after receiving a remote frame request, by the next synchronous signal to transmit data.
For RPDOs: In all synchronization modes, the received RPDO packets are cached first and then written into
the control program after the next synchronous signal is received.
2. Asynchronous PDOs (triggered by asynchronous events or periodically, of the 253–255 transmission
types)
For TPDOs: 253 indicates transmitting data after receiving a remote frame request, 254 indicates
transmitting data immediately after a parameter value changes, and 255 is not supported currently.
For RPDOs, a parameter value is immediately transmitted to the controller after receiving an RPDO.
Note:
1. You can set Inhibit Time (inhibition time) for TPDOs to specify the minimum time interval for transmitting
TPDOs.
2. You need to take the relationship between baud rates and transmission rates into account when
configuring PDOs. Otherwise, the bus load rate may be too high or other communication faults may be caused.
Some rules are set for the PDO receiving and transmission configuration supported by SV-DA200 servo
drives. The maximum mapping of each PDO is 4 parameters, and except the node ID, the COB-ID of a PDO
cannot be modified.
RPDO
COB-ID
TPDO
COB-ID
RPDO1
0x200 + servo node ID
TPDO1
0x180 + servo node
ID
RPDO2
0x300 + servo node ID
TPDO2
0x280 + servo node
ID
RPDO3
0x400 + servo node ID
TPDO3
0x380 + servo node
ID
RPDO4
0x500 + servo node ID
TPDO4
0x480 + servo node
ID
Default PDO configuration
PDO
Object1
Object2
Object3
Transmission Type
RPDO1
Controlword
Modes of operation
Target Position
254
RPDO2
Target_velocity
Target_torque
---
254
RPDO3
---
---
---
254
RPDO4
---
---
---
254
TPDO1
Controlword
Modes of operation
Position actual value
254
TPDO2
Velocity_actual_value
Torque_actual_value
Current_actual_value
254
TPDO3
---
---
---
254
TPDO4
---
---
---
254
The default PDO mapping can implement the basic control over rates, position loops, and torque loops for
common customers. Other related parameters can be modified through SDO parameters.
If the default PDO configuration cannot meet requirements, you can map the required parameters to the
PDO list through the CANopen master station. The transmission type can also be modified. Each group of
PDOs support the mapping of a maximum of 4 parameters or 64-byte data.

INVT SV-DA200 Servo Drive CANopen Technical Guide 2 Software configuration
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The default transmission type is 254, indicating asynchronous transmission. However, Transmission types
of 1–240 (indicating synchronous transmission) are recommended for scenarios with more nodes. You can
optimize the load rate of the CAN bus as required.
SV-DA200 servo drives support the modification of PDO mapping through CANopen master stations. If a
master station does not provide the modification function, you can use ServoPlorer on the DA200 upper
computer to modify the PDO mapping, as shown in the following figure.
2.3.5 EMCY
A device uses an emergency object to point out an internal error of the device. When receiving this signal,
other network members assess the received information and start to take specific measures defined by
corresponding manufacturers.
The following table describes the emergency error codes.
Byte
0
1
2
3
4
5
6
7
Content
Emergency
Error Code
Error
register
(Object
1001h)
Manufacturer specific Error Field
Error
index
Error
subindex
-
-
-
Self-defined area: Bytes 3 to 7 are the fault area defined by manufacturers.We define the third byte as the
primary key of faults and the fourth byte as the subkey.
You can find fault codes in Chapter 5 according to the corresponding primary keys and subkeys.
An emergency error code indicates a fault type defined in the CANopen standard protocol. For more
information, see the related description in this guide.
2.3.6 Node Guarding
NodeGuarding packets are used by a master station to send query requests, and the corresponding slave
stations return their current states.
2.3.7 Heartbeat
Aslave station transmits Heartbeat packets to automatically report its state to a master station periodically,
which indicates that the communication is normal. If Heartbeat packets are required, you need to set the
heartbeat time in the object dictionary to a required time.
2.4 Unsupported protocol
SV-DA200 servo drives do not support the Time Stamp protocol.

INVT SV-DA200 Servo Drive CANopen Technical Guide 3 Operation modes
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3 Operation modes
3.1 Profile Position Mode
3.1.1 Basic description
A servo drive (slave station) receives a position command transmitted by an upper computer. The position
obtained by converting the position command based on the electronic gear ration is used as the target position
in the internal position control.
Encoder-defined unit of a position command = User-defined unit of the position command ×
OD-6093h-Sub1 / OD-6093h-Sub2
3.1.2 Operation procedure
1. Set 6060h: Mode of operations to 1(Profile position mode).
2. Set 6081h: Profile velocity to the planned speed (unit: rpm). The corresponding parameter on the
drive is P5.21.
3. Set 6083h: Profile acceleration to Planned speed (unit: ms, ranging from 0 to the rated rotating
speed). Note: in this mode, 6083hand 6084hcorrespond to the same parameter P5.37 on the drive.
4. Set Sub-1 and Sub-2 of 6093h: Position factor to adjust the electronic gear ratio (Sub-1 indicates
the numerator, and Sub-2 indicates the denominator, corresponding to the parameters P0.25 and
P0.26 on the drive).
Note: Set the parameter P0.22 to 0and power on the drive again before setting these two parameters.
The parameter OD-6093h-Sub-2 (P0.26) takes effect when the servo is disabled, and
OD-6093h-Sub-1 (P0.25) takes effect immediately.
5. Set 607Ah: Target position to the target position (unit: user-defined unit). The corresponding
parameter on the drive is P6.01.
6. Set 6040h: Control word to enable the servo drive and trigger the target position to take effect. 0x0F
indicates Enable. For details about other position parameters, see the description of 6040hin section
4.5.
7. Query 6064h: Position actual value to obtain the feedback of the actual position of the motor.
8. Query 6041h: Status word to obtain the feedback of the state of the servo drive (following error,
set-point acknowledge, target reached, and internal limit active).
3.1.3 Other objects
1. Query 6062h: Position actual value to obtain the feedback of the actual position of the motor (unit:
user-defined unit).
2. Query 6063h: Position actual value* to obtain the feedback of the actual position increment of the
motor (unit: user-defined unit).
3. Set 6065h: Following error window to adjust the out-of-tolerance position range (unit: user-defined
unit).
4. Query 60F4h: Following error actual value to obtain the actual position deviation of the motor (unit:
user-defined unit).

INVT SV-DA200 Servo Drive CANopen Technical Guide 3 Operation modes
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5. Set 6067h: Following error window to adjust the range of position reached (unit: user-defined unit).
3.1.4 List of objects related to this operation mode
Index
Name
Type
Attr.
6040h
Control word
UNSIGNED16
RW
6041h
Status word
UNSIGNED16
RO
6060h
Modes of operation
INTEGER8
RW
6061h
Modes of operation display
INTEGER8
RO
6062h
Position demand value
INTEGER32
RO
6063h
Position actual value*
INTEGER32
RO
6064h
Position actual value
INTEGER32
RO
6065h
Following error window
UNSIGNED32
RW
6067h
Position window
UNSIGNED32
RW
607Ah
Target position
INTEGER32
RW
6081h
Profile velocity
UNSIGNED32
RW
6083h
Profile acceleration
UNSIGNED32
RW
6093h
Position factor
UNSIGNED32
RW
60F4h
Following error actual value
INTEGER32
RO
60FCh
Position demand value*
INTEGER32
RO
Note: For details about the objects, see the CiADS402 standard.

INVT SV-DA200 Servo Drive CANopen Technical Guide 3 Operation modes
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3.1.5 Control word (6040) of Profile Position Mode
3.1.6 Status word (6041) of Profile Position Mode
3.1.7 Application example
1. Set 6060hto 1to select Profile Position Mode.
2. Set 6040hto enable the drive and trigger the position command to take effect.
a. Single set-point mode
Diagram of the single set-point mode
If the target position transmitted is in incremental mode, you must perform the following steps:
(1) Set 6040hto 0x4F (of which bit 6 is used to set the incremental mode, and bits 3 to 0 are used to

INVT SV-DA200 Servo Drive CANopen Technical Guide 3 Operation modes
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enable the drive).
(2) Set 607Ahto the target position command.
(3) Set 6040hto 0x5F to trigger the position command to take effect (the target position command is
triggered to take effect by the edge generated when the value of bit 4 changes from 0 to 1).
(4) The drive returns 6041h. bit 12 after receiving 6040h. bit 4 (where bit 4= 1), and the master
station deletes the value of 6040h. bit 4 after receiving 6041hto get ready for transmitting the next
target position command.
If the target position transmitted is in absolute mode, you must perform the following steps:
(1) Set 6040hto 0x0F.
(2) Set 607Ahto the target position command.
(3) Set 6040hto 0x1F to trigger the position command to take effect.
(4) The drive returns 6041h. bit 12 after receiving 6040h. bit 4 (where bit 4= 1), and the master
station deletes the value of 6040h. bit 4 after receiving 6041hto get ready for transmitting the next
target position command.
b. Multi-setpoint Change set immediately mode
Diagram of the multi-setpoint Change set immediately mode
If the target position transmitted is in incremental mode, you must perform the following steps:
(1) Set 6040hto 0x6F (of which bit 6 is used to set the incremental mode, bit 5 is used to set the
immediately taking effect mode, and bits 3 to 0 are used to enable the drive).
(2) Set 607Ahto the target position command.
(3) Set 6040hto 0x7F to trigger the position command to take effect (the target position command is
triggered to take effect by the edge generated when the value of bit 4 changes from 0 to 1).
(4) The drive returns 6041h. bit 12 after receiving 6040h. bit 4 (where bit 4= 1), and the master
station deletes the value of 6040h. bit 4 after receiving 6041hto get ready for transmitting the next
target position command.
If the target position transmitted is in absolute mode, you must perform the following steps:
(1) Set 6040hto 0x2F (of which bit 5 is used to set the immediately taking effect mode, and bits 3 to 0
are used to enable the drive).
(2) Set 607Ahto the target position command.
(3) Set 6040hto 0x3F to trigger the position command to take effect.
(4) The drive returns 6041h. bit 12 after receiving 6040h. bit 4 (where bit 4= 1), and the master
station deletes the value of 6040h. bit 4 after receiving 6041hto get ready for transmitting the next

INVT SV-DA200 Servo Drive CANopen Technical Guide 3 Operation modes
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target position command.
3. If multiple target positions are to be transmitted, repeat step 2.
Note: SV-DA200 servo drives support the internal caching of 8 steps of target positions.
3.2 Interpolation Position Mode
3.2.1 Basic description
1. The master station transmits SYNC broadcast frames (0x80) periodically.
2. The master station uses PDOs to transmit the next position reference Xi and Control word.
3. After receiving the control data PDO, the slave station transmits the position reference Xi to the
position control application program when the next SYNC is received.
4. Caching of input data is not supported, and only the linear interpolation mode is supported (The
parameter 60C0hcan only be set to 0).
5. If no SYNC broadcast frames are received in a period of more than twice of the communication period,
the slave station automatically stops and generates an alarm.
3.2.2 Operation procedure
1. Set 6060h: Mode of operations to 7(Interpolation position mode).
2. Set 1006h: Communication cycle period to the time interval for transmitting SYNC frames (unit: us.
It is recommended that the unit be set to ms, that is, 1000 us).
3. Set Sub-1 and Sub-2 of 6093h: Position factor to adjust the electronic gear ratio (Sub-1 indicates
the numerator, and Sub-2 indicates the denominator, corresponding to the parameters P0.25 and
P0.26 on the drive).
Note: Set the parameter P0.22 to 0and power on the drive again before setting these two parameters.
The parameter OD-6093h-Sub-2 (P0.26) takes effect when the servo is disabled, and
OD-6093h-Sub-1 (P0.25) takes effect immediately.
4. Set 6040h: Control word to enable the servo drive. 0x0F indicates Enable. For details about other
position parameters, see the description of 6040hin section 4.5.
5. Set 1600hSub-3 (PDO Communication & Mapping parameters) to 60C1hSub-1 (interpolated
position data Xi) by using SDOs as the target position (unit: user-defined unit).
6. Query 6064h: Position actual value to obtain the feedback of the actual position of the motor.
7. Query 6041h: Status word to obtain the feedback of the state of the servo drive (following error,
target reached, ip mode active, and internal limit active).
8. Receive NMT frames transmitted by the master station to start or stop the slave station.
3.2.3 List of objects related to this operation mode
Index
Name
Type
Attr.
6040h
Control word
UNSIGNED16
RW
6041h
Status word
UNSIGNED16
RO
6060h
Modes of operation
INTEGER8
RW
6061h
Modes of operation display
INTEGER8
RO
6064h
Position actual value
INTEGER32
RO
6065h
Following error window
UNSIGNED32
RW
6067h
Position window
UNSIGNED32
RW
6093h
Position factor
UNSIGNED32
RW

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60C0h
Interpolation sub mode select
INTEGER16
RO
60C1h
Interpolation data record
ARRAY
RW
60F4h
Following error actual value
INTEGER32
RO
Note: For details about the objects, see the CiADS402 standard.
3.2.4 Application example
1. Set 6060hto 7to select Interpolation Position Mode.
2. Set 6040hto enable the drive. Transmit 0x1F ( of which bit 4 is Enable ip mode).
3. Set 60C2h(position interpolation period) based on the SYNC period of PDOs. The corresponding
parameter on the drive is P0.34.
3.3 Homing Mode
3.3.1 Basic description
The drive automatically locates the position of origin in Homing mode. You can set the rotating speed in
Homing mode.
Note: In this mode, the signals of the limit switch and origin switch must be transmitted to the switching
value input terminal CN1 of the drive. If the signals of the limit switch is transmitted to the upper computer or
PLC, the homing process led by the upper computer must be performed.
3.3.2 Operation procedure
1. Set 6060h: Mode of operations to 6(Homing mode).
2. Set 6098h: Homing method. The value ranges from 1to 35. For details, see the DS402 standard.
3. Set 607Ch: Homing offset. Set the origin offset. The corresponding parameter on the drive is P5.14.
4. Set 6099h Sub-1: Homing speeds to modify the speed for searching for the limit switch in the homing
process (unit: rpm. The corresponding parameter on the drive is P5.12.
5. Set 6099h Sub-2: Homing speeds to modify the speed for searching for the zero position in the
homing process (unit: rpm). The corresponding parameter on the drive is P5.13.
6. Set 6040h: Control word to enable the servo drive. The homing process is started when the value of
Homing operation start (bit 4) is changed from 0to 1, and is stopped when the value is changed
from 1to 0.
7. The motor searches for the limit switch and Home switch to complete the homing action.
8. Query 6041h: Status word to obtain the feedback of the state of the servo drive (Homing error,
Homing attained, and Target reached).
3.3.3 List of objects related to this operation mode
Index
Name
Type
Attr.
6040h
Control word
UNSIGNED16
RW
6041h
Status word
UNSIGNED16
RO
6060h
Modes of operation
INTEGER8
RW
6061h
Modes of operation display
INTEGER8
RO
607Ch
Homing offset
INTEGER32
RW
6098h
Homing method
UNSIGNED32
RW
6099h
Homing speeds
ARRAY
RW
Note: For details about the objects, see the CiADS402 standard.

INVT SV-DA200 Servo Drive CANopen Technical Guide 3 Operation modes
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3.3.4 Application example
When using the Homing mode, you need to perform the following steps:
1. Set 6060hto 6to select Homing Mode.
2. Set 6098hto select the homing mode to be used.
3. Set 6040hto enable the drive and trigger the homing action: transmit 0x0F first, and then transmit
0x1F to trigger the homing action.
4. In the homing process, if 0x0F is transmitted, the homing action is stopped; and if 0x0 is transmitted,
the drive is disabled.
5. Determine whether the homing process is complete according to bit 12 of 6041h, and determine
whether a fault occurs in the homing process according to bit 13.
3.3.5 Statusword of homing mode
3.4 Velocity Mode
3.4.1 Basic description
In Velocity mode, the drive receives the rotating command transmitted by the master station and plans
internal speeds according to the settings of the acceleration planning parameters and the RFG control
parameters in 6040.
3.4.2 Operation procedure
1. Set 6060h: Mode of operations to 2(velocity mode).
2. Set 6046h Sub-2: vl velocity max amount to modify the maximum rotating speed limit (unit: rpm).
3. Set 6048hSub-1: vl velocity acceleration-delta speed to modify the acceleration time (unit: rpm).
4. Set 6048h Sub-2: vl velocity acceleration-delta time to modify the acceleration time (unit: ms).
5. Set 6049hSub-1: vl velocity deceleration-delta speed to modify the deceleration time (unit: rpm).
6. Set 6049h Sub-2: vl velocity deceleration-delta time to modify the deceleration time (unit: ms).
7. Set 6040h: Control word to enable the servo drive, start the motor, and select the RFG working
mode.
8. Set 6042h: vl target velocity to modify the target speed (unit: rpm).
9. Query 6041h: Status word to obtain the feedback of the state of the servo drive (Target reached).

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3.4.3 Other objects
1. Query 6043h: vl velocity demand to obtain the internal rotating speed command (unit: rpm).
2. Query 6044h: vl control effort to obtain the feedback of the actual speed (unit: rpm).
3. Set 6047h Sub-2: vl velocity max pos to modify the maximum forward-rotating speed limit (unit: rpm).
4. Set 6047h Sub-4: vl velocity max neg to modify the maximum reverse-rotating speed limit (unit: rpm).
3.4.4 List of objects related to this operation mode
Index
Name
Type
Attr.
6040h
Control word
UNSIGNED16
RW
6041h
Status word
UNSIGNED16
RO
6060h
Modes of operation
INTEGER8
RW
6061h
Modes of operation display
INTEGER8
RO
6042h
vl target velocity
INTEGER16
RW
6043h
vl velocity demand
INTEGER16
RO
6044h
vl control effort
INTEGER16
RO
6046h
vl velocity min max amount
ARRAY
RW
6047h
vl velocity min max
ARRAY
RW
6048h
vl velocity acceleration
RECORD
RW
6049h
vl velocity deceleration
RECORD
RW
Note: For details about the objects, see the CiADS402 standard.
3.5 Profile Velocity Mode
3.5.1 Basic description
In Profile velocity mode, the drive receives a rotating speed command transmitted by the master station
and plans internal speeds according the settings of the acceleration planning parameters.
3.5.2 Operation procedure
1. Set 6060h: Mode of operations to 3(Profile velocity mode).
2. Set 6083h: Profile acceleration to modify the acceleration curve (unit: ms). The value ranges from 0 to
the rated rotating speed. The corresponding parameter on the drive is P0.54.
3. Set 6084h: Profile deceleration to modify the deceleration curve (unit: ms). The value ranges from 0
to the rated rotating speed. The corresponding parameter on the drive is P0.55.
4. Set 6040h: Control word to enable the servo drive and start the motor.
5. Set 60FFh: Target velocity to set the target rotating speed (unit: rpm). The corresponding parameter
on the drive is P4.13.
6. Query 6041h: Status word to obtain the feedback of the state of the servo drive (Speed zero, Max
slippage error, Target reached, and Internal limit active).
3.5.3 Other objects
1. Query 6069h: Velocity sensor actual value to obtain the feedback of the actual speed (unit: pulse/s).
2. Query 606Bh: Velocity demand value to obtain the internal actual speed command (unit: rpm).
3. Query 606Ch: Velocity actual value to obtain the feedback of the actual speed (unit: rpm).
4. Set 606Dh: Velocity window to modify the speed range (unit: rpm).
5. Set 606Fh: Velocity threshold to modify the zero-speed range (unit: rpm).
6. Set 60F8h: Max slippage to modify the speed out-of-tolerance setting (unit: rpm).

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3.5.4 List of objects related to this operation mode
Index
Name
Type
Attr.
6040h
Control word
UNSIGNED16
RW
6041h
Status word
UNSIGNED16
RO
6060h
Modes of operation
INTEGER8
RW
6061h
Modes of operation display
INTEGER8
RO
6069h
Velocity sensor actual value
INTEGER32
RO
606Bh
Velocity demand value
INTEGER32
RO
606Ch
Velocity actual value
INTEGER32
RO
606Dh
Velocity window
UNSIGNED16
RW
606Fh
Velocity threshold
UNSIGNED16
RW
6083h
Profile acceleration
UNSIGNED32
RW
6084h
Profile deceleration
UNSIGNED32
RW
60F8h
Max slippage
INTEGER32
RW
60FFh
Target velocity
INTEGER32
RW
Note: For details about the objects, see the CiADS402 standard.
3.5.5 Application example
When using the Profile Speed mode, you need to perform the following steps:
1. Set 6060hto 3to select Profile Speed Mode.
2. Set 6040hto enable the drive. Transmit 0x0F to enable the drive, and transmit 0x0 to disable the drive.
3. Set 60FFhto modify the target speed command.
4. Set 6083hand 6084hto modify the acceleration time and deceleration time.
3.6 Profile Torque Mode
3.6.1 Basic description
In Profile torque mode, the drive receives a torque command transmitted by the master station and plans
internal torques according to the settings of torque planning parameters.
3.6.2 Operation procedure
1. Set 6060h: Mode of operations to 4(Profile torque mode).
2. Set 6087h: Torque slope to the torque planning time (unit: ms). It indicates the time it takes to step up
the torque from 0 to 100% of the rated torque. The corresponding parameter on the drive is P0.68.
3. Set 6040h: Control word to enable the servo drive and start the motor.
4. Set 6071h: Target torque to set the target torque (unit: 0.1% of the rated torque). The corresponding
parameter on the drive is P4.14.
5. Query 6041h: Status word to obtain the feedback of the state of the servo drive (Target reached).
3.6.3 Other objects
1. Set 6072h: Max torque to modify the maximum torque limit (unit: 0.1% of the rated torque).
2. Query 6074h: Torque demand value to obtain the internal actual torque command (unit: 0.1% of the
rated torque).
3. Query 6076h: Motor rated torque to obtain the rated torque of the motor (unit: mNm).
4. Query 6077h: Torque actual value to obtain the feedback of the actual torque (unit: 0.1% of the rated
torque).
5. Query 6078h: Current actual value to obtain the actual output current (unit: mA).

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3.6.4 List of objects related to this operation mode
Index
Name
Type
Attr.
6040h
Control word
UNSIGNED16
RW
6041h
Status word
UNSIGNED16
RO
6060h
Modes of operation
INTEGER8
RW
6061h
Modes of operation display
INTEGER8
RO
6071h
Target torque
INTEGER16
RO
6072h
Max torque
UNSIGNED16
RW
6073h
Max current
UNSIGNED16
RO
6074h
Torque demand value
INTEGER16
RO
6075h
Motor rated current
UNSIGNED32
RO
6076h
Motor rated torque
UNSIGNED32
RO
6077h
Torque actual value
INTEGER16
RO
6078h
Current actual value
INTEGER16
RO
6079h
DC link circuit voltage
UNSIGNED32
RO
6087h
Torque slope
UNSIGNED32
RW
Note: For details about the objects, see the CiADS402 standard.
3.6.5 Application example
When using the Profile Torque mode, you need to perform the following steps:
1. Set 6060hto 4to select Profile Torque Mode.
2. Set 6040hto enable the drive. Transmit 0x0F to enable the drive, and transmit 0x0 to disable the drive.
3. Set 6071hto modify the target torque command.
4. Set 6087hto modify the torque slope.

INVT SV-DA200 Servo Drive CANopen Technical Guide 4 Object dictionary
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4 Object dictionary
4.1 Object specification description
4.1.1 Object type
Object name
Description
VAR
Value of avariable, such as UNSIGNED8, Boolean, float, and INTEGER16.
ARRAY
Array of multiple values, consisting of multiple basic variables of the same type. If
Sub-index 0 is of the UNSIGNED8 type, it indicates the number of values in the
array but is not part of theARRAY data.
RECORD
Structure formed by multiple basic variables of the same type of different types. If
Sub-index 0 is of the UNSIGNED8 type, it indicates the number of values in the
structure but is not part of the RECORD data.
4.1.2 Data type
See CANopen Standard 301.
4.2 Overview of Object Group 1000h
Index
Object Type
Name
Data Type
Access
Mappable
CANopen DS301
1000h
VAR
Device type
UNSIGNED32
RO
N
1001h
VAR
Error register
UNSIGNED8
RO
Y
1005h
VAR
COB-ID SYNC
UNSIGNED32
RW
N
1006h
VAR
Communication cycle period
UNSIGNED32
RW
N
1017h
VAR
Producer Heartbeat Time
UNSIGNED32
RW
N
1018h
RECORD
Identity Object
UNSIGNED32
RO
N
1400h~03h
RECORD
Receive PDO parameter
UNSIGNED16/32
RW
N
1600h~03h
RECORD
Receive PDO mapping
UNSIGNED32
RW
N
1800h~03h
RECORD
Transmit PDO parameter
UNSIGNED16/32
RW
N
1A00h~03h
RECORD
Transmit PDO mapping
UNSIGNED32
RW
N
4.3 Overview of Object Group 6000h
Index
Object Type
Name
Data Type
Access
Mappable
CANopen DS402
6040h
VAR
Control word
UNSIGNED16
RW
Y
6041h
VAR
Status word
UNSIGNED16
RO
Y
6042h
VAR
vl target velocity
INTEGER16
RW
Y
6043h
VAR
vl velocity demand
INTEGER16
RO
Y
6044h
VAR
vl control effort
INTEGER16
RO
Y
6046h
ARRAY
vl velocity min max amount
UNSIGNED32
RW
Y
6047h
ARRAY
vl velocity min max
UNSIGNED32
RW
Y
6048h
RECORD
vl velocity acceleration
UNSIGNED32
RW
Y
6049h
RECORD
vl velocity deceleration
UNSIGNED32
RW
Y
6060h
VAR
Mode of operation
INTEGER8
RW
Y
6061h
VAR
Mode of operation display
INTEGER8
RO
Y
6062h
VAR
Position demand value
INTEGER32
RO
Y
6063h
VAR
Position actual value*
INTEGER32
RO
Y
6064h
VAR
Position actual value
INTEGER32
RO
Y