1558 INVT INDUSTRIAL ServoDrive Servo Drives INVT_DA200_161 INVT_DA200_161(8Bit Asyn DSP, ET1100) 100 2000 ServoDrive 402 BIT2 0 BIT3 0 BOOL 1 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 STRING(11) 88 STRING(5) 40 STRING(8) 64 STRING(15) 120 STRING(16) 128 STRING(19) 152 DT0800EN03 USINT 3 Signed presentation 0 Unsigned presentation 1 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 240 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o DT1601 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1602 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1603 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1a00 336 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o DT1a01 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1a02 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1a03 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 ro o Elements DT1C12ARR 16 16 ro o DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 ro o Elements DT1C13ARR 16 16 ro o DT1C32 176 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Minimum shift time UDINT 32 144 ro o DT1C33 176 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 ro o 2 Cycle time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Minimum shift time UDINT 32 144 ro o DT2300 112 0 SubIndex 000 USINT 8 0 ro o 1 index UDINT 32 16 rw o 2 value UDINT 32 48 rw o 3 status UDINT 32 80 ro o DT6046 80 0 SubIndex 000 USINT 8 0 ro o 1 vl velocity min amount UDINT 32 16 rw o 1 1 2 vl velocity max amount UDINT 32 48 rw o 1 1 DT6047 144 0 SubIndex 000 USINT 8 0 ro o 1 vl velocity min pos UDINT 32 16 rw o 1 1 2 vl velocity max pos UDINT 32 48 rw o 1 1 3 vl velocity min neg UDINT 32 80 rw o 1 1 4 vl velocity max neg UDINT 32 112 rw o 1 1 DT607B 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position range limit DINT 32 16 rw o 1 1 2 Max position range limit DINT 32 48 rw o 1 1 DT6091 80 0 SubIndex 000 USINT 8 0 ro o 1 Motor revolutions UDINT 32 16 rw o 1 1 2 Shaft revolutions UDINT 32 48 rw o 1 1 DT6093 80 0 SubIndex 000 USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 1 1 2 Feed constant UDINT 32 48 rw o 1 1 DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speed during search for switch UDINT 32 16 rw m 2 Speed during search for zero UDINT 32 48 rw o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UINT 48 1 3 DTF010 64 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 48 16 ro o #x1000 Device type UDINT 32 89130000 ro o #x1001 Error register SINT 8 00 ro o #x1008 Device name STRING(19) 152 494E56545F44413230305F4574686572434154 ro o #x1009 Hardware version STRING(15) 120 494E56545F44413230305F56312E30 ro o #x100a Software version STRING(16) 128 494E56545F44413230305F56312E3035 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 00000616 Product code 00000001 Revision 00000001 Serial number 07000000 ro o #x1600 DO RxPDO-Map0 DT1600 240 SubIndex 000 07 SubIndex 001 10004060 SubIndex 002 20007a60 SubIndex 003 2000ff60 SubIndex 004 10007160 SubIndex 005 08006060 SubIndex 006 08000000 SubIndex 007 1000B860 ro o #x1601 DO RxPDO-Map1 DT1601 80 SubIndex 000 02 SubIndex 001 10004060 SubIndex 002 20007a60 ro o #x1602 DO RxPDO-Map2 DT1602 80 SubIndex 000 02 SubIndex 001 10004060 SubIndex 002 2000ff60 ro o #x1603 DO RxPDO-Map3 DT1603 80 SubIndex 000 02 SubIndex 001 10004060 SubIndex 002 10007160 ro o #x1a00 DI TxPDO-Map0 DT1a00 336 SubIndex 000 10 SubIndex 001 10004160 SubIndex 002 20006460 SubIndex 003 10007760 SubIndex 004 2000f460 SubIndex 005 80006160 SubIndex 006 08000000 SubIndex 007 1000b960 SubIndex 008 2000ba60 SubIndex 009 2000fd60 SubIndex 010 2000fe60 ro o #x1a01 DI TxPDO-Map1 DT1a01 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006460 ro o #x1a02 DI TxPDO-Map2 DT1a02 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006460 ro o #x1a03 DI TxPDO-Map3 DT1a03 80 SubIndex 000 02 SubIndex 001 10004160 SubIndex 002 20006460 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 32 SubIndex 000 01 SubIndex 001 0016 ro o #x1c13 TxPDO assign DT1C13 32 SubIndex 000 01 SubIndex 001 001a ro o #x1c32 SM output parameter DT1C32 176 SubIndex 000 07 Sync mode 0100 Cycle time 00000000 Shift time 00000000 Sync modes supported 0780 Minimum cycle time 00000000 Minimum shift time 00000000 ro o #x1c33 SM input parameter DT1C33 176 SubIndex 000 07 Sync mode 2200 Cycle time 00000000 Shift time 00000000 Sync modes supported 0780 Minimum cycle time 00000000 Minimum shift time 00000000 ro o #x2000 [P0.00]MotorType DINT 32 0000 rw o #x2001 [P0.01]Encorder type selection INT 16 0000 rw o #x2101 [P1.01]1st Rotational inertia ratio INT 16 0000 rw o #x2103 [P1.03]Machine rigidity setting INT 16 0000 rw o #x2200 [P2.00]1st Speed gain(0.1) INT 16 0000 rw o #x2201 [P2.01]1st Speed integration time constant(0.1) INT 16 0000 rw o #x2202 [P2.02]1st Position gain(0.1) INT 16 0000 rw o #x2203 [P2.03]1st Speed detection filter time INT 16 0000 rw o #x2204 [P2.04]1st Torque filter(0.01) INT 16 0000 rw o #x2205 [P2.05]2nd Speed gain(0.1) INT 16 0000 rw o #x2206 [P2.06]2nd Speed integration time constant(0.1) INT 16 0000 rw o #x2207 [P2.07]2nd Position gain(0.1) INT 16 0000 rw o #x2208 [P2.08]2nd Speed detection filter time INT 16 0000 rw o #x2209 [P2.09]2nd Torque filter(0.01) INT 16 0000 rw o #x220A [P2.10]Speed feed-forward gain(0.1) INT 16 0000 rw o #x220B [P2.11]Speed feed-forward filter time(0.1) INT 16 0000 rw o #x220C [P2.12]Torque feed-forward gain(0.1) INT 16 0000 rw o #x220D [P2.13]Torque feed-forward filter time(0.01) INT 16 0000 rw o #x220E [P2.14]1st IPPI gain INT 16 0000 rw o #x220F [P2.15]2st IPPI gain INT 16 0000 rw o #x2214 [P2.20]2nd Speed gain mode INT 16 0000 rw o #x2216 [P2.22]Position control switch mode INT 16 0000 rw o #x2217 [P2.23]Position control switch delay time INT 16 0000 rw o #x2218 [P2.24]Position control switch level INT 16 0000 rw o #x2219 [P2.25]Position control switch hyst INT 16 0000 rw o #x221A [P2.26]Position gain switch time INT 16 0000 rw o #x221B [P2.27]Position gain switch time INT 16 0000 rw o #x221C [P2.28]Speed control switch mode INT 16 0000 rw o #x221D [P2.29]Speed control switch delay time INT 16 0000 rw o #x221E [P2.30]Speed control switch level INT 16 0000 rw o #x221F [P2.31]Speed control switch hyst INT 16 0000 rw o #x2220 [P2.32]Torque control switch mode INT 16 0000 rw o #x2221 [P2.33]Torque feed-forward filter time INT 16 0000 rw o #x2222 [P2.34]Torque control switch level INT 16 0000 rw o #x2229 [P2.41]Perturbatio observer enable INT 16 0000 rw o #x222A [P2.42]Perturbation torque compensation INT 16 0000 rw o #x222B [P2.43]Perturbation observer filter INT 16 0000 rw o #x222C [P2.44]Torque command offset(0.1) INT 16 0000 rw o #x2232 [P2.50]Full-loop vibration suppressor enable INT 16 0000 rw o #x2233 [P2.51]Full-loop vibration suppressor cut-off frequency(0.1) INT 16 0000 rw o #x2234 [P2.52]Full-loop vibration suppressor compensation gain INT 16 0000 rw o #x223C [P2.60]Speed observer enable INT 16 0000 rw o #x223D [P2.61]Speed observer gain INT 16 0000 rw o #x2246 [P2.70]Friction compensation max-speed INT 16 0000 rw o #x2247 [P2.71]Positive torque coefficient of friction compensation(0.1) INT 16 0000 rw o #x2248 [P2.72]Negative torque coefficient of friction compensation(0.1) INT 16 0000 rw o #x2249 [P2.73]Friction compensation enable INT 16 0000 rw o #x2300 driver paramets DT2300 112 SubIndex 000 03 index 0 value 0 status 0 ro o #x300d Encoder Feedback INT 32 00000000 ro o #x3019 multi number of turns INT 16 0000 ro o #x3020 Encoder Feedback Cap INT 32 00000000 ro o #x3021 multi number of turns Cap INT 16 0000 ro o #x4000 Error code UINT 16 0000 ro o #x4001 Servo Temperature INT 16 0000 ro o #x4002 Parameter save INT 16 0000 rw o #x4003 Parameter restore INT 16 0000 rw o #x4004 software reset INT 16 0000 rw o #x6040 Control word UINT 16 0000 rw R m #x6041 Status word UINT 16 0000 ro T m #x6042 vl target velocity INT 16 0000 rw o #x6043 vl velocity demand INT 16 0000 ro o #x6044 vl control effort INT 16 0000 ro o #x6046 vl velocity min max amount DT6046 80 SubIndex 000 02 vl velocity min amount 00000000 vl velocity max amount 00000000 rw o #x6047 vl velocity min max DT6047 144 SubIndex 000 04 vl velocity min pos 00000000 vl velocity max pos 00000000 vl velocity min neg 00000000 vl velocity max neg 00000000 rw o #x605D Halt option code INT 16 0000 rw o #x6060 Operation Mode SINT 8 00 rw R m #x6061 Operation Mode Display SINT 8 00 ro T o #x6063 Position actual value* DINT 32 00000000 ro T o #x6064 Position actual value DINT 32 00000000 ro T m #x6065 Following error window UDINT 32 00000000 rw o #x6066 Following error time out UINT 16 0000 rw o #x606C Actual Velocity DINT 32 00000000 ro T o #x6071 Target torque INT 16 0000 rw R m #x6072 Max torque UINT 16 0000 rw R o #x6073 Max current UINT 16 0000 ro o #x6075 Motor rate current UDINT 32 00000000 ro o #x6076 Motor rate torque UDINT 32 00000000 ro o #x6077 Torque actual value INT 16 0000 ro T o #x6079 DC link circuit voltage UDINT 32 00000000 ro o #x607A Target Position DINT 32 00000000 rw R o #x607B Position range limit DT607B 80 SubIndex 000 02 Min position range limit 80000000 Max position range limit 7FFFFFFF rw o #x607C Home offset DINT 32 00000000 rw o #x607F Max profile velocity UDINT 32 rw R o #x6080 Max motor speed UDINT 32 rw o #x6081 Profile velocity UDINT 32 00000000 rw R m #x6083 Profile acceleration UDINT 32 00000000 rw R m #x6084 Profile deceleration UDINT 32 00000000 rw R o #x6091 Gear ratio DT6091 80 SubIndex 000 02 Motor revolutions 00000001 Shaft revolutions 00000001 rw o #x6093 Position factor DT6093 80 SubIndex 000 02 Numerator 00000001 Feed constant 00000001 rw o #x6098 Homing method SINT 8 00 rw o #x6099 Homing speeds DT6099 80 SubIndex 000 02 Speed during search for switch 00000000 Speed during search for zero 00000000 rw o #x609A Homing acceleration UDINT 32 rw o #x60B8 Touch probe control UINT 16 0000 rw R o #x60B9 Touch probe status UINT 16 0000 ro T o #x60BA Touch probe positive value DINT 32 00000000 ro T o #x60BB Touch probe negative value DINT 32 00000000 ro T o #x60E0 Positive torque limit UINT 16 rw R o #x60E1 Negtive torque limit UINT 16 rw R o #x60F4 Following error actual value DINT 32 00000000 ro T o #x60FD Digital inputs UDINT 32 00000000 ro T o #x60FE Digital outputs UDINT 32 00000000 ro T o #x60FF Target Velocity DINT 32 00000000 rw R o #x6502 Supported drive modes UDINT 32 00000000 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0300 ro o #xf010 Module list DTF010 64 SubIndex 000 03 SubIndex 001 6400 SubIndex 002 c800 SubIndex 003 2c01 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 DO Outputs #x6040 0 16 Control Word UINT #x607a 0 32 Target Position DINT #x60ff 0 32 Target Velocity DINT #x6060 0 8 Mode of Operation SINT #x6071 0 16 Target torque INT #x60B8 0 16 Touch probe control UINT #x60E0 0 16 Positive torque limit UINT #x60E1 0 16 Negtive torque limit UINT #x607F 0 32 Max profile velocity UDINT #x1a00 DI Inputs #x6041 0 16 Status Word UINT #x6064 0 32 Position Actual Value DINT #x606C 0 32 Speed Actual Value DINT #x6077 0 16 Torque Actual Value INT #x6061 0 8 Operation Mode Display SINT #x6078 0 16 Current Actual Value INT #x60B9 0 16 Touch Probe Status UINT #x60BA 0 32 Touch Probe Value DINT #x60FD 0 32 Digital inputs UDINT #x60FE 0 32 Digital outputs UDINT DcSync DC for synchronization #x0300 0 0 DCOff DC unused #x0000 2048 090C08660001 DEVICE