INVT SV-DA200 Series Quick start guide

INVT SV-DA200 EtherCAT Technical Guide

Technical Guide
SV-DA200 Series
AC Servo Drive
——EtherCAT
October 31, 2017

INVT SV-DA200 EtherCAT Technical Guide
1
Content
Content .................................................................................................................................................... 1
1 Hardware configuration ...................................................................................................................... 3
1.1 Terminal wiring ................................................................................................................................. 3
1.2 Drive wiring ...................................................................................................................................... 3
1.3 CN1 Terminal Definition and Wiring ................................................................................................. 4
2 Software configuration ....................................................................................................................... 7
2.1 Basic setup of EtherCAT application ................................................................................................ 7
2.2 EtherCAT communication ................................................................................................................ 8
2.2.1 CANopen over EtherCAT (CoE) reference model ...................................................................... 8
2.2.2 EtherCAT slave information ........................................................................................................ 9
2.2.3 EtherCAT state machine ............................................................................................................. 9
2.2.4 PDO process data mapping ..................................................................................................... 10
2.2.5 Network synchronization based on distributed clock ................................................................ 11
2.2.6 Emergency Messages .............................................................................................................. 12
2.3 Compatible communication protocol .............................................................................................. 13
3 CiA402 device protocol ..................................................................................................................... 14
3.1 CANopen over EtherCAT(CoE) state machine .............................................................................. 14
3.1.1 Detail of Control word (0x6040) ................................................................................................ 14
3.1.2 Detail of Status word (0x6041) ................................................................................................. 15
3.2 Profile Position Mode ..................................................................................................................... 16
3.2.1 Basic description ...................................................................................................................... 16
3.2.2 Operation mode ........................................................................................................................ 16
3.2.3 Other objects ............................................................................................................................ 17
3.2.4 Mode-related object list ............................................................................................................ 17
3.2.5 Control word (0x6040) of Profile Position Mode ....................................................................... 18
3.2.6 Status word (0x6041) of Profile Position Mode ......................................................................... 18
3.2.7 Application examples ................................................................................................................ 18
3.3 Cyclic Synchronous Position Mode ................................................................................................ 20
3.3.1 Basic description ...................................................................................................................... 20
3.3.2 Operation mode ........................................................................................................................ 20
3.3.3 Mode-related objects list ........................................................................................................... 20
3.3.4 Application examples ................................................................................................................ 20
3.4 Homing Mode ................................................................................................................................ 20
3.4.1 Basic description ......................................................................................................................
20
3.4.2 Operation mode ........................................................................................................................ 20
3.4.3 Mode-related objects list ........................................................................................................... 21
3.4.4 Application examples ................................................................................................................ 21
3.4.5 Status word of homing mode .................................................................................................... 21
3.4.6 Introduction to homing mode .................................................................................................... 21
3.5 Profile Speed Mode........................................................................................................................ 23
3.5.1 Basic description ...................................................................................................................... 23
3.5.2 Operation mode ........................................................................................................................ 23
3.5.3 Other objects ............................................................................................................................ 23
3.5.4 Mode-related objects list ........................................................................................................... 23
3.5.5 Application examples ................................................................................................................ 23
3.6 Cyclic Synchronous Speed Mode .................................................................................................. 23
3.6.1 Basic description ...................................................................................................................... 23
3.6.2 Operation mode ........................................................................................................................ 23
3.6.3 Other objects ............................................................................................................................ 24
3.6.4 Mode-related objects list ........................................................................................................... 24
3.6.5 Application examples ................................................................................................................ 24
3.7 Cyclic Synchronous Torque Mode .................................................................................................. 24
3.7.1 Basic description ...................................................................................................................... 24
3.7.2 Operation mode ........................................................................................................................ 24

INVT SV-DA200 EtherCAT Technical Guide
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3.7.3 Other objects ............................................................................................................................ 24
3.7.4 Mode-related objects list ........................................................................................................... 24
3.7.5 Application examples ................................................................................................................ 25
3.8 Touch Probe Function .................................................................................................................... 25
3.8.1 Basic description ...................................................................................................................... 25
3.8.2 Mode-related objects list ........................................................................................................... 26
3.8.3 Description of control word & status word ................................................................................ 26
3.8.4 Application examples (Single trigger mode) ............................................................................. 26
4 Object dictionary ............................................................................................................................... 27
4.1 Object specification ........................................................................................................................ 27
4.1.1 Object type ............................................................................................................................... 27
4.1.2 Data type .................................................................................................................................. 27
4.2 Overview of Object Group 1000h ................................................................................................... 27
4.3 Overview of Object Group 6000h ................................................................................................... 27
4.4 Overview of Object Group 2000h- 4000h ........................................................................................ 28
4.5 Encoder Feedback ......................................................................................................................... 28
4.6 Drive parameters ........................................................................................................................... 29
5 Fault and diagnosis ........................................................................................................................... 30
5.1 EtherCAT communication faults and remedies .............................................................................. 30
5.2 SV-DA200 servo faults and fault codes .......................................................................................... 30
5.3 Give instructions without action ..................................................................................................... 37
6 Reference ........................................................................................................................................... 38


INVT SV-DA200 EtherCAT Technical Guide
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1 Hardware configuration
1.1 Terminal wiring
The EtherCAT communication card of SV-DA200 servo drive adopts external connection mode. The
front view of the communication card is shown as below. CN3 terminal is the connection terminal of
EtherCAT. The Line connecting mode of CN3 terminal is top-in and bottom-out.
CHARGE
MODE
SET
L3
L1 C
L2 C
L2
L1
C
N
4
C
N
3
C
N
1
C
N
2
B2
B3
U
V
W
-
+

Pins assignment of RJ45 connectors
Pin no. Signal name Abbreviation Signal direction
1 Send data+ TD+ Output
2 Send data- TD- Output
3 Receive data+ RD+ Input
4 - NC* -
5 - NC -
6 Receive data- RD- Input
7 - NC -
8 - NC -
*:NC is unused.
1.2 Drive wiring
EtherCAT network is normally comprised of one master (IPC or CNC) and multiple slaves (servo drive or
bus extension terminal). Each EtherCAT slave carries two standard Ethernet interfaces. The wiring
diagram is shown below:

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1.3 CN1 Terminal Definition and Wiring
The IO of the DA200 EtherCAT type is different from the standard type, the pin of the medium power
range (7.5kW~22kW) CN1 terminal (DB44) is defined as follows (red font for the difference to the
standard type), the CN1 terminal pin 1 of the small power range (0.1kW~5.5kW) of the EtherCAT type is
reserved,the other pins are in agreement with the medium power range.
引脚号 符号 功能名称 引脚号 符号 功能名称
1 AD1 Analog input 1 23 - （Reserved）
2 COM+ DI input common port 24 - （Reserved）
3 DO1+ Digital output 1+ 25 AO2 Analog output 2
4 DO1- Digital output 1- 26 OCZ Open collector output of Z phase
5 GND Analog signal ground 27 OZ- Differential output - of Z phase
6 GND Analog signal ground 28 OZ+ Differential output + of Z phase
7 AD3 Analog input 3 29 - （Reserved）
8 GND Analog signal ground 30 OCB Open collector output of B phase
9 DO3+ Digital output 3+ 31 - （Reserved）
10 DO3- Digital output 3- 32 - （Reserved）
11 DO4+ Digital output 4+ 33 - （Reserved）
12 COM- DO output common port 34 DI5 Digital input 5
13 DO2- Digital output 2- 35 GND Analog signal ground
14 DO2+ Digital output 2+ 36 OCA Open collector output of A phase
15 DO4- Digital output 4- 37 DI2 Digital input 2
16 DI1 Digital input 1 38 - （Reserved）
17 DI6 Digital input 6 39 DI4 Digital input 4
18 DI3 Digital input 3 40 +24V Internal 24V power supply
19 GND Analog signal ground 41 OB+ Differential output + of B phase
20 AD2 Analog input 2 42 OB- Differential output - of B phase
21 AO1 Analog output 1 43 OA- Differential output - of A phase
22 DI7 Digital input 7 44 OA+ Differential output + of A phase

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EtherCAT type have 3 analog inputs (AD1 is a 16 bit analog input, however, the small power range
does not have this input, so the pin 1 of the CN1 is reversed); 2 analog outputs; 7 adigital inputs; 4 4
groups of differential adigital output. The external wiring of the analog inputs/outputs and the adigital
inputs is similar to standard type,please refer to the 4.5 chapter of the DA200 manual for details.
The external wiring of the adigital inputs outputs is connected as follows, taking DO1 for example:
Connection diagram when the power supply is self-provided by user:


also connect as follows:

Connection method when the local power supply is used:

INVT SV-DA200 EtherCAT Technical Guide
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

also connect as follows:


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2 Software configuration
2.1 Basic setup of EtherCAT application
It is necessary to configure the following parameters before conducting EtherCAT application with
SV-DA200 servo drive:
1. Set P0.03[control mode] to 8 [EtherCAT mode] via LED panel or ServoPlorer;
2. Set P4.08 [EtherCAT synchronization type] via LED panel or ServoPlorer (0: Free-Run; 2: DC
Sync0);
3. Set P4.07 [EtherCAT synchronization cycle] via LED panel or ServoPlorer (0:250us; 1:500us;
2:1ms; 3:2ms; 4:4ms; 5:8ms);
4. Set P4.09 [EtherCAT fault detection time] via LED panel or ServoPlorer (Set the detection time of
offline fault or PDO data loss fault as needed);
5. Set P4.25 [EtherCAT control unit type] via LED panel or ServoPlorer (0: Manufacturer mode; 1:
CIA402 Unit; 2: CIA402 OMRON);
6. Set P4.26 [EtherCAT PDO input offset] via LED panel or ServoPlorer (0-63, unit: 125us);
7. Set P4.27 [compensation value of EtherCAT position interpolation mode] via LED panel or
ServoPlorer(0-10);
Note:
1. As the first four configuration parameters can only be effective at next startup, a re-power on or
soft reset is necessary after modification. The last three parameters are instantly effective;
2. When control mode (0x6040) is set to position Interpolation mode (8), P4.07 [EtherCAT sync
cycle] is the same with CNC interpolation cycle;
3. The meaning of P4.25 [EtherCAT control unit type]:
0: Manufacturer mode: support twincat NC function of Beckhoff;
Position unit is pulse, speed unit is rpm, acceleration unit is ms (the time needed for accelerating
from zero speed to rated motor speed);
Support the touch probe of z SIGNAL. The capture value of external IO is stored in manufacturer
parameters.
1: CIA402 Unit: support most of motion controllers eg. CodeSys, BaoYuan and ACS EtherCAT
master;
Position unit is pulse, speed unit is pulse/s and acceleration unit is pulse/s²;
Support touch probe of z signal and standard touch probe 1 IO capture.
2: CIA402 OMRON: support OMRON NJ controller;
Modify 0x6041 status word feedback parameters to satisfy OMRON NJ requirement on status
word.
4. The default pulse per revolution of DA200 is 10000, which can be modified by P0.22 [pulse per
revolution of motor] or by modifying P0.25 [numerator of electric gear ratio] and P0.26
[denominator of electric gear ratio] after setting P0.22 to 0. Please note that the modification of
P0.22 will be effective after reset and the value defined with P0.22 should not exceed the actual
resolution rate of the encoder.
5. P4.26 and P4.27 need to be modified only when master cycle is unstable or packet loss or other
problems occurred to communication;
6. P4.26 [EtherCAT PDO input offset] is used to adjust the time from receiving DC signal to
processing PDO, thus PDO input time can be in the middle of master cycle, reducing the data
loss caused by unstable master clock; this parameter needs to be set according to the cycle of
P4.07. If P4.07 is 1ms, then the range of P4.26 is 0-7; 0 means no offset; 7 means 7*125us
offset; the actual set value should be based on actual conditions with the purpose of achieving
stable data-receiving.
7. P4.27 [compensation value of EtherCAT position interpolation mode] is effective only when it is
under DC mode and control mode is position interpolation mode (8), this is to ensure that

INVT SV-DA200 EtherCAT Technical Guide
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position command smoothing effect can be achieved by adding position command forecast
function if one or multiple cycle position command are lost, with precondition that P4.26 is set
properly. If it is set to non-zero, compensation will be made based on previous position increment
when position command loss occurred, and the compensation cycle is equal to the value defined
with P4.27;
8. The torque limit parameters in PDO parameter list in EtherCAT xml configuration file of DA200, if
any, should be set to non-zero, otherwise the servo torque will be limited to 0 and cause
malfunction or alarm. For instance, the unit for positive torque limit, negative torque limit and max
torque is 1‰ of rated torque, when these parameters were set to 1000, it means 100% of rated
torque. Torque limit parameters are effective in all control modes.
9. The max profile speed parameter in EtherCAT xml configuration files of DA200, if any, means the
max speed limit under torque loop, and the unit is related to P4.25. For instance, the unit is rmp if
P4.25 is manufacturer unit and puu/s if P4.25 is set to other values. Set this parameter to a
non-zero value if torque loop operation is required.
10. Transceiving of PDO can be configured dynamically by the master, however, the max number of
each PDO parameter is 10, exceeds which the slave will be unable to enter op status.
11. The connecting mode of network cables should adopt top-in and bottom-out, otherwise some
nodes may be unable to enter op status;
12. This instruction manual applies to versions later than V2.53. Some functions are excluded in
previous versions.
2.2 EtherCAT communication
2.2.1 CANopen over EtherCAT (CoE) reference model
The network model of CANopen over EtherCAT (CoE) of DA200 drive is shown below.
Fig 2-1 CoE reference model
EtherCAT (CoE) network reference model consists of data link layer and application layer. Data link layer
is in charge of EtherCAT communication protocol while application layer is embedded with CANopen
drive Profile (DS402) communication protocol. The object dictionary in CoE contains parameters,
application data and PDO mapping configuration information.

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Process data object (PDO) is constituted by objects which can conduct PDO mapping in object dictionary.
The content in PDO data is defined by PDO mapping. The R/W of PDO data is cyclic, thus removing the
need to look up the object dictionary; while service data object (SDO) is acyclic communication and
requires a look-up in object dictionary during R/W.
Note: It is necessary to configure FMMU and Sync Manager to ensure SDO and PDO data can be
properly analyzed in EtherCAT data link layer, as shown in the table below:
Sync Manager Assignment(Fixed) Size Start Address(Fixed)
Sync Manager 0 Assigned to Receive Mailbox 40 ~ 512Byte 0x1000
Sync Manager 1 Assigned to Transmit Mailbox 40 ~ 512Byte 0x1200
Sync Manager 2 Assigned to Receive PDO 1 ~ 128Byte 0x1400
Sync Manager 3 Assigned to Transmit PDO 1 ~ 128Byte 0x1480
FMMU setup
FMMU Settings
FMMU 0 Mapped to Receive PDO
FMMU 1 Mapped to Transmit PDO
FMMU 2 Mapped to Fill Status of Transmit Mailbox
2.2.2 EtherCAT slave information
EtherCAT slave information file (xml file) is used for master reading and building the configuration
between master and slave. XML file contains information required by EtherCAT communication setup.
INVT provides “INVT_DA200_CoE.xml” file for DA200 drive.
2.2.3 EtherCAT state machine
EtherCAT state machine is used to describe the state and state change of slave application. The request
of state change is usually initiated by master and responded by slave. The state transition mode is
shown as below:
Fig 2-2 Diagram of slave state machine
Table 2-2 State instruction
State Description
Init  Mail communication is unavailable
 PDO communication is unavailable
Init  Pre-Op
 Master configures link layer address and SM channel, and
initiates mail communication
 Master initializes DC clock synchronization
 Master requests transferring to Pre-Op state
 Master sets AL control register

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State Description
 Slave determines whether mail is initialized normally
Pre-Operation
(Pre-Op)
 Mail communication is activated
 Process data (PDO) communication is unavailable
Pre-Op  Safe-Op
 Master is process data configuration sync manager channel and
FMMU channel
 Master configures PDO data mapping and Sync manager PDO
parameter setup via SOD
 Master requests Safe-Op state transition
 Slave checks whether the Sync Manager configuration in charge
of PDO data is correct. If the slave sends requests to initiate
synchronization, check whether the distributed clock is set
correctly
Safe-Operation
(Safe-Op)
 The slave application program will transmit actual input data and
no operation will be performed on output.
 Output is set to “safe state”
Safe-Op  Op  Master sends valid output data
 Master requests transferring to Op state
Operational
(Op)
 Mail communication is available
 PDO communication is available
2.2.4 PDO process data mapping
Process data of EtherCAT slave is constituted by sync manager channel objects, with each object
describing the uniform region of EtherCAT process data and containing multiple object data objects. The
EtherCAT slave equipped with application control function should support PDO mapping and R/W of SM
PDOs Assign objects.
PDO mapping:
PDO mapping designs the mapping relation between the object dictionary to PDOs application object.
Index 0x1600 and 0x1A00 in the object dictionary are stored in RxPDO and TxPDO mapping table
respectively.
Fig 2-3 Example of PDO mapping

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PDO distribution:
In order to realize process data interaction of EtherCAT communication, it is necessary to distribute
PDOs to Sync Manager; Sync Manager PDO distributes objects (Sync Manager PDO Assign objects:
0x1C12, 0x1C13) to establish the relationship between PDOs and Sync Manager, as shown below.
Fig 2-4 Example of PDO distribution
Note:
PDO mapping object (0x1600~0x1603, 0x1A00~0x1A03) and SM PDO Assign object (0x1C12, 0x1C13)
can only be effective in write operation under Pre-Op state.
Operation steps of PDO mapping:
1. Stop PDO distribution function (Set the sub-index 0 of 0x1C12 and 0x1C13 to 0);
2. Stop PDO mapping function (Set the sub-index 0 of 0x1600~0x1603 and 0x1A00~0x1A03 to 0);
3. Set the mapping entry of PDO mapping object (0x1600~0x1603 and 0x1A00~0x1A03);
4. Set the value of mapping entry of PDO mapping object (0x1600~0x1603 and 0x1A00~0x1A03);
5. Set PDO distribution object (Set sub-index 1 of 0x1C12 and 0x1C13);
6. Re-open PDO distribution function (set sub-index 0 of 0x1C12 and 0x1C13 to 1)
Default PDO mapping (Position, Speed, Torque, Torque limit, Touch probe):
RxPDO
(0x1600)
Controlword
(0x6040)
Target
Position
(0x607A)
Target
Speed
(0x60FF)
Mode of
Operation
(0x6060)
Touch
Probe
Function
(0x60B8)
Target
torque
(0x6071)
Touch
probe
control
(0x60B8)
Positive
torque limit
(0x60E0 )
Negative
torque
limit(0x6
0E1)
Max
profile
speed(0x6
07F)
TxPDO
(0x1A00)
Statusword
(0x6041)
Position
Actual
Value
(0x6064)
Speed
Actual
Value
(0x606C)
Tor qu e
Actual
Value
(0x6077)
Operation
Mode
Display
(0x6061)
Current
Actual
Value
(0x6078)
Touch
Probe
Status
(0x60B9)
Tou ch
Probe
Value
(0x60BA)
Digital
inputs
(0x60FD)
Digital
outputs
(0x60FE)
Note:For detailed PDO mapping information, see xml file.
2.2.5 Network synchronization based on distributed clock
Distributed clock can make all EtherCAT device use the same system time, thus controlling the sync
execution of each device tasks. Among the slave clock connected to the master, EtherCAT network
takes the first slave clock equipped with distributed clock function as the reference clock for the whole
network, and the remaining slaves and masters take the reference clock as their basis for
synchronization.
DA200 EtherCAT communication card adopts the following sync modes, in which sync mode can be
switched by configuring sync control register (ESC 0x980, 0x981).
 Free-Run (ESC*register: 0x980 = 0x0000, P4.08 = 0 )
In this mode, the local application program cycle, communication cycle and master cycle of the
servo drive are independent of each other;

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 DC mode (ESC register: 0x980 = 0x0300, P4.08 = 2 )
In this mode, local application program is sync with Sync0 time.
*Note:ESC is the abbreviation of EtherCAT Slave Controller
Index Sub Name Access PDO
Mapping Type Value
0x1C32
Sync Manager channel 2 (process data output) Synchronization
1 Sync type RO No UINT
Current status of DC mode
0:Free-run
2:DC Mode(Synchronous with Sync0)
2 Cycle time RO No UDINT
Sync0 event cycle[ns](This value is
set by master via ESC register)
range:12500 * n(n = 2,4,8,16)[ns]
0x1C33
Sync Manager channel 2 (process data input) Synchronization
3 Shift time RO No UINT -
6 Calc and
copy time RO No UINT -
Time sequence diagram of DC mode is shown below:
Fig 2-5 Time sequence diagram of DC mode
2.2.6 Emergency Messages
When the drive alarms, CoE will initiate an Emergency message, informing users of the error
information of present drive.
Emergency Object:
Byte 0 1 2 3 4 5 6 7
Content Emergency Error
Code
Error
register Panel Error Code N/A
Users can visit 0x4000 (16-bit) via SDO to read present fault code information. The format of fault code
is:
Bits Meaning
15~8 Master code of fault code*
7~4 Reserved
3~0 Sub-code of fault code
*: For detailed information of master code and sub-code, see chapter 5.

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2.3 Compatible communication protocol
EtherCAT
communicati
on
Applicable
communication
standard
IEC 61158 Type12, IEC 61800-7 CiA402 Drive
Profile
Physical layer 100BASE-TX (IEEE802.3 )
Bus connection CN7 (RJ45 ) : EtherCAT Signal IN
CN8 (RJ45 ) : EtherCAT Signal OUT
Cable CAT5
SyncManager SM0: output mail, SM1: input valid
SM2: output process data, SM3: input process data
FMMU
FMMU0: mapping to process data (RxPDO) output
area
FMMU1: mapping to process data (RxPDO) output
area
FMMU2: mapping to mail state
PDO data Dynamic PDO mapping
Mailbox (CoE)
Emergency, SDO request, response, SDO
information
Note: Do not support TxPDO/RxPDO and remote
TxPDO/TxPDO
Distributed clock (DC) Free-run, DC mode (activate via parameters)
Supported DC cycle: 250us~2ms
Slave Information IF 256Bytes (read-only)
LED indicator
EtherCAT Link/Activity indicator(L/A) × 2
EtherCAT Status indicator × 1
EtherCAT Error indicator × 1
CiA402 Drive Profile
 Homing mode(6)
 Profile position mode(1)
 Profile speed mode(3)
 Cyclic synchronous position mode(8)
 Cyclic synchronous speed mode(9)
 Cyclic synchronous torque mode(10)
 Touch probe function


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3 CiA402 device protocol
The master controls DA200 servo drive via Controlword (control word, 0x6040) and acquires present
drive status by reading Statusword (status word, 0x6041). The servo drive achieves motor control
function according to master control commands.
3.1 CANopen over EtherCAT(CoE) state machine
Fig 3-1 CANopen over EtherCAT state machine
State name Instruction
Not Ready to Switch On Drive initializing.
Switch On Disabled Drive initialization completed.
Ready to Switch On Drive waiting to enter Switch On state, motor unexcited.
Switched On Drive is ready and main circuit power is normal.
Operation Enable Drive enabled, motor is controlled based on control mode.
Quick Stop Active Drive stops based on the set mode.
Fault Reaction Active Drive detects an alarm and stops according to the set mode,
motor still has excitation signal.
Fault Drive in fault state, motor has no excitation signal.
3.1.1 Detail of Control word (0x6040)
6040h control work contains the following contents:
1. Bits used for status control;
2. Bits related to control mode;
3. Control bits defined by the manufacturer.

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Introduction to each 6040h bit:
Among which: MSB: Most Significant Bit; LSB: Least Significant Bit; O: Optional; M; Mandatory
BITS 0 - 3 AND 7 (bits used for status control);
Among which: X is irrelevant; is rising edge jump
BITS 4, 5, 6 AND 8 (bits related to control mode):
Bit Operation mode
Profile position mode Profile speed mode Homing mode
4 New set-point reserved Homing operation start
5 Change set immediately reserved reserved
6 abs/rel reserved reserved
8 Halt Halt Halt
BITS 9, 10: Reserved
BITS 11 - 15: Defined by manufacturer
3.1.2 Detail of Status word (0x6041)
6041h status word contains the following content:
1. Present status bit of the drive;
2. Status bits related to control mode;
3. Status bits defined by the manufacturer.
Introduction to each 6041h bit is shown below:
Bit Description M / O
0 Ready to switch on M
1 Switched on M
2 Operation enabled M
3 Fault M
4 Voltage enabled M
5 Quick stop M
6 Switch on disabled M

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Bit Description M / O
7 Warning O
8 Manufacture specific O
9 Remote M
10 Target reached M
11 Internal limit active M
12 – 13 Operation mode specific O
14 – 15 Manufacturer specific O
BIT 0 – 3, 5, AND 6:
Value (binary) State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
Among which: X is irrelevant
BIT 4: Voltage enabled, when this bit is 1, it means main circuit power is normal;
BIT 7: Warning, when this bit is 1, it means drive releases an alarm;
BIT 8: DC Calibration Status, when this bit is 1, it means the drive clock is synchronized with DC Sync0;
BIT 9: Remote, when this bit is 1, it means the slave is in OP state, and the master can control the drive
via PDO remotely;
BIT 10: Target reached, this bit differs in meaning under different control modes. When this bit is 1, in pp
mode, it means target position reached, while in pv mode, it means reference speed reached; in hm
mode, it means homing completed; if Halt is started, it means motor speed is 0;
BIT 11: Internal limit active, when this bit is 1, in pp mode, it means position limit reached, in pv mode, it
means internal torque exceeds the set value.
BIT 12 AND 13: These two bits differ in meaning under different control modes.
Bit Operation mode
pp pv hm
12 Set-point Acknowledge Speed Homing attained
13 Following error Max slippage error Homing error
BIT 14: When this bit is 1, it means motor zero-speed status.
BIT 15: Reserved.
3.2 Profile Position Mode
3.2.1 Basic description
The servo drive (slave) receives the position command sent by upper pc (master) and such command,
after being converted using electric gear ratio, will be taken by the servo drive as the target position for
internal position control.
Position command encoder unit=position command user unit * numerator of actual gear ratio /
denominator of actual gear ratio;
For detailed gear ratio setup, see chapter 2.1.
3.2.2 Operation mode
1. Set[6060h: Mode of operations]to 1 (Profile position mode );
2. Set [6081h: Profile speed] as scheduled speed (the unit is relative to P4.25); the corresponding
parameter of the drive is P5.21 (in user unit);

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3. Set [6083h: Profile acceleration] as scheduled speed (the unit is relative to P4.25 ); Note: Under
this mode, both 6083h and 6084h correspond to P5.37 in the drive (in user unit);
4. Set [607Ah: Target position] as target position (unit: user unit); correspond to P6.01 in the drive;
5. Set [6040h: Control word] to enable servo drive and trigger target position to be effective (set to
0x0F to enable, refer to section 4.5 for other bits);
6. Check [6064h: Position actual value] to acquire actual motor position feedback;
7. Check [6041h: Status word] to acquire status feedback of servo drive (following error, set-point
acknowledge, target reached and internal limit active );
3.2.3 Other objects
1. Check [6064h: Position actual value] to acquire actual position feedback of motor (unit: user
unit);
2. Check [6063h: Position actual value*] to acquire actual position feedback increment of motor
(unit: user unit);
3. Set [6065h: Following error window] to modify position out-of-tolerance range (unit: user unit)
4. Check [60F4h: Following error actual value] to acquire actual motor position deviation (unit:
user unit);
5. Set [6065h: Following error window] to modify positioning completion range (unit: user unit);
3.2.4 Mode-related object list
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
6063h Position actual value* INTEGER32 RO
6064h Position actual value INTEGER32 RO

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Index Name Type Attr.
6065h Following error window UNSIGNED32 RW
6067h Position window UNSIGNED32 RW
607Ah Target position INTEGER32 RW
6081h Profile speed UNSIGNED32 RW
6083h Profile acceleration UNSIGNED32 RW
6093h Position factor UNSIGNED32 RW
60F4h Following error actual value INTEGER32 RO
Note: For detailed description of each object, see CiADS402.
3.2.5 Control word (0x6040) of Profile Position Mode
3.2.6 Status word (0x6041) of Profile Position Mode
3.2.7 Application examples
1. Set 6060h to 1, select Profile Position Mode;
2. Set 6040h to enable the drive and trigger position command to be effective;

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a) Single set-point:
Diagram of single set-point
The following steps are necessary if the target position transmitted is increment mode:
1): Set 6040h to 0x4F (in which bit6 is to set increment mode, bit3~bit0 is to enable drive);
2): Set 607Ah as target position command;
3): Set 6040h to 0x5F, trigger position command to be effective (in which 0->1 jump edge of bit4 is to
trigger target position command to be effective);
4): The drive sets 6041h.bit12 after receiving 6040h.bit4 = 1, and then the master clears bit4 of 6040h to
be ready to send next target position command.
The following steps are necessary if the target position transmitted is absolute mode:
1): Set 6040h to 0x0F;
2): Set 607Ah as target position command;
3): Set 6040h to 0x1F, trigger position command to be effective;
4): The drive sets 6041h.bit12 after receiving 6040h.bit4 = 1, and the master clears bit4 of 6040h to be
ready for transmitting next target position command.
b): Change set immediately mode:
Diagram for change set immediately
The following steps are necessary it the target position transmitted is increment mode:
1): Set 6040h to 0x6F (in which bit6 is for setting increment mode, bit5 is for setting immediate effective
mode, bit3~bit0 is for enabling the drive);
2): Set 607Ah as target position command;
3): Set 6040h to 0x7F, trigger position command to be effective (in which 0->1 jump edge of bit4 is for
triggering target position command to be effective)
4): The drive sets 6041h.bit12 after receiving 6040h.bit4 = 1, and then the master clears bit4 of 6040h to
be ready for transmitting next target position command.
The following steps are necessary if the target position transmitted is absolute mode:
1): Set 6040h to 0x2F (set immediate-effective by bit5, enable the drive by bit3~bit0);
2): Set 607Ah as target position command;
3): Set 6040h to 0x3F, trigger position command to be effective;
4): The drive sets 6041h.bit12 after receiving 6040h.bit4 = 1, and then the master clears bit4 of 6040h to
be ready for transmitting next target position command.
c): Repeat step 2 if multiple targets need to be transmitted.
Note: SV-DA200 supports 8-level target position buffering.