Page 2: Preface
Thanks for choosing DA180 series basic AC servo drive (DA180 drive for short). DA180 drive is a new generation of basic servo drive that INVT develops, using the modular design, USB communication with the upper computer software, and bus control options Modbus and CANopen.
Page 3: Safety Precautions
DA180 series basic AC servo drive Safety precautions Safety precautions Safety symbols Read this manual and follow the instructions. Do not touch terminals within 15 minutes after power-on or power-off. Otherwise, electric shock may result. Do not touch the heat sink. Otherwise, burns may result. The contact current can reach 0.5mA.
Page 4 DA180 series basic AC servo drive Safety precautions  Do not touch the conductive parts directly, and do not connect any external cables (especially heavy-current related) to the housing or in short-circuited way. Otherwise, electric shock or short circuit may result. ...
Page 5: Table Of Contents
DA180 series basic AC servo drive Contents Contents Preface ............................I Safety precautions ......................... II Contents ............................IV 1 Overview ........................... 1 1.1 Servo drive ........................... 2 1.2 Servo motor .......................... 8 1.3 Cables ..........................10 1.4 Brake resistor specifications ....................13 2 Installation instructions ......................
Page 6 DA180 series basic AC servo drive Contents 6.5 Extension and application (group P4) ................140 6.6 Program Jog, homing, and PTP control (group P5) ............158 6.7 Application functions (group P6) ..................172 6.8 PTP control (groups PtP0, PtP1, and PtP2) ............... 178 6.9 Status monitoring ......................
Page 7: Overview
DA180 series basic AC servo drive Overview Overview 1.1 Servo drive ........................... 2 1.1.1 Drive introduction ..................... 2 1.1.2 Outline drawing ......................6 1.1.3 Drive naming ......................7 1.1.4 Drive nameplate ....................... 7 1.1.5 Drive ratings and frame sizes..................8 1.2 Servo motor ..........................
Page 8: Servo Drive
DA180 series basic AC servo drive Overview 1.1 Servo drive 1.1.1 Drive introduction DA180 series servo drive (100W–1kW) Specification Description Power 220V system input 1PH/3PH, AC 220V (±15%), 47Hz–63Hz supply voltage 10 inputs Input (The function is configurable through parameter settings.) Control signal 4 outputs...
Page 9 DA180 series basic AC servo drive Overview DA180 series servo drive (100W–1kW) Specification Description mode 3: Orthogonal coding Electronic 1/10000—1000 gear 1. Command smoothing filter Filter 2. FIR filter Torque limit This allows independent CW or CCW torque Analog input command limit.
Page 10 DA180 series basic AC servo drive Overview DA180 series servo drive (100W–1kW) Specification Description Speed First-order delay filter from the analog input speed command command. filter Speed command Zero-drift suppression on external interference. zero-drift control Control input Such as zero-drift clamping input. Control Such as speed reaching.
Page 11 DA180 series basic AC servo drive Overview DA180 series servo drive (100W–1kW) Specification Description 4: Torque limit signal Such as protection against overvoltage, undervoltage, For hardware overcurrent, overspeed, overload, overheating, encoder fault, and power outage detection. Protection Such as protection against ROM fault, initialization fault, I/O For software distribution exception, and excessive position deviation.
Page 12: Outline Drawing
DA180 series basic AC servo drive Overview 1.1.2 Outline drawing CN5: Fully-closed loop LED display Operation panel CN4: Upper computer interface CHARGE indicator CN3: CAN/RS485 communication interface Main circuit power Regenerative resistor CN1:I/O control interface Motor CN2: Encoder interface Grounding...
Page 13: Drive Naming
Function category G: Basic ⑥ Encoder type 0: Absolute and incremental 1.1.4 Drive nameplate 上海英威腾工业技术有限公司 INVT INDUSTRIAL TECHNO L O G Y (SHANG HAI)CO ., L TD MO DEL: DA180-S2R8SG 0 INPUT: 1PH, AC 220V ± ( 15% ),47~63Hz, 3.6A...
Page 14: Servo Motor
S/N : MAD E IN C H IN A INVT INDUSTRIAL TECHNOLOGY CO.,LTD. Note: "No. 3010004" in the nameplate indicates the motor model code (motor code for short). Enter this code to the servo parameter P0.00, which is a long parameter and can be set through the keypad.
Page 15 DA180 series basic AC servo drive Overview Description Example L: Small inertia Inertial ③ M: Medium inertia classification H: Large inertia 06: 60mm ④ Base model no. 08: 80mm 13: 130mm 0R2: 200W 0R4: 400W ⑤ Rated power 0R7: 750W 1R0: 1.0kW A: 1000rpm Rated revolutions...
Page 16: Cables
1.3.1 Cable nameplate 上海英威腾工业技术有限公司 INVT INDUSTRIAL TECHNOLOGY(SHANG HAI)CO.,LTD. 6 7 0 0 2 - 0 1 1 0 5 Shielde d 3 m po w e r c ab le w ith 4 -p in m etal p lu g an d 3-p in 2 0A p lu g, 0.75 m m dia m e te r...
Page 17: Power Cable Accessory Naming
DA180 series basic AC servo drive Overview Description Example 00: Standard part ⑧ Serial no. 01: Serial number for a non-standard part 1.3.3 Power cable accessory naming Description Example ① Product series Manufacturer use only ② Power cable ML: Power cable B: 4-pin regular aviation plug YD28 ⑤...
Page 18: Encoder Cable Accessory Naming
DA180 series basic AC servo drive Overview Description Example 0: Common cable ⑥ Cable material F: Flexible towline cable ⑦ Encoder type 04: 17-bit/23-bit absolute 00: Standard part ⑧ Serial no. 01: Serial number for a non-standard part 1.3.5 Encoder cable accessory naming Description Example ①...
Page 19: Brake Resistor Specifications
DA180 series basic AC servo drive Overview 1.4 Brake resistor specifications Specification of built-in Min. resistance of external Drive model brake resistor brake resistor 60Ω DA180-S1R3SG0 60Ω DA180-S1R8SG0 60Ω DA180-S2R8SG0 45Ω 60W 30Ω DA180-S4R5SG0 45Ω 60W 30Ω DA180-S5R0SG0 -13-...
Page 20: Installation Instructions
DA180 series basic AC servo drive Installation instructions Installation instructions 2.1 Drive dimensions ........................ 15 2.1.1 Dimension drawing for frame size A/B ..............15 2.1.2 Models and dimensions ..................15 2.2 Drive installing ........................16 2.2.1 Installation mode ....................16 2.2.2 Installation directions and clearances..............
Page 21: Drive Dimensions
2.1 Drive dimensions 2.1.1 Dimension drawing for frame size A/B CH A RG E 2.1.2 Models and dimensions Mount Outline dimensions dimensions Mount hole Frame size Model (mm) (mm) (mm) (mm) (mm) (mm) DA180-S1R3SG0 M4(Φ5) DA180-S1R8SG0 DA180-S2R8SG0 DA180-S4R5SG0 M4(Φ5) DA180-S5R0SG0 -15-...
Page 22: Drive Installing
DA180 series basic AC servo drive Installation instructions 2.2 Drive installing 2.2.1 Installation mode Base installation mode There is a Φ5 installation hole at the upper left corner and one at the lower right corner of the rear panel. -16-...
Page 23: Installation Directions And Clearances
DA180 series basic AC servo drive Installation instructions 2.2.2 Installation directions and clearances Install the servo drive vertically and keep enough space for good ventilation. If necessary, install a fan to ensure the temperature inside the control cabinet is lower than 45° C. Installing one drive >...
Page 24: Motor Outline And Mounting Dimensions
DA180 series basic AC servo drive Installation instructions 2.3 Motor outline and mounting dimensions Note: Motor structural dimensions may vary with design modification. If you are sensitive to motor mounting dimensions, check the dimensions with sales staff before ordering. In this section, if not otherwise specified, all the dimensions are expressed in millimeter (mm).
Page 25: Motor Installing
DA180 series basic AC servo drive Installation instructions 2.3.3 For base-130 motors SE C T I O N A - A L(mm) Motor model Without brake With brake SV-MM13-1R0E-2-SA□ 2.4 Motor installing  Do not pull the motor leads or output shaft when moving the motor. ...
Page 26: Wiring Instructions
DA180 series basic AC servo drive Wiring instructions Wiring instructions 3.1 System wiring ........................21 3.1.1 Input power cable requirements ................22 3.1.2 Control cable requirements ..................22 3.1.3 Main circuit cable diameters ................... 23 3.1.4 EMI filter models ..................... 23 3.2 Main circuit terminal wiring (1PH 220V) ................
Page 27: System Wiring
DA180 series basic AC servo drive Wiring instructions 3.1 System wiring Power Circuit breaker for wi ring To cut off the circuit if the power line Gr ating ru ler encounters overcurrent. Filter To prevent C om p ute r interference from the outside of the MiniUSB cable...
Page 28: Input Power Cable Requirements
DA180 series basic AC servo drive Wiring instructions 3.1.1 Input power cable requirements The input power cable dimensions must comply with local regulations.  The input power cable must be able to withstand the load current.  The maximum rated temperature margin of the input power cable cannot be lower than 70° C under continuous running.
Page 29: Main Circuit Cable Diameters
M2.5 0.3~0.6 3.1.4 EMI filter models Drive model EMI filter model DA180-S1R3SG0 DA180-S1R8SG0 FLT-P04006L-B DA180-S2R8SG0 DA180-S4R5SG0 DA180-S5R0SG0 FLT-P04016L-B Note: The EMI filter models in the table are INVT models. The EMI filter is used at the power input end. -23-...
Page 30: Main Circuit Terminal Wiring (1Ph 220V)
DA180 series basic AC servo drive Wiring instructions 3.2 Main circuit terminal wiring (1PH 220V) · Employ this emergency stop circuit. · Add a surge absorber to each end of the electromagnetic contactor coil. · Input voltage of power: Breaker AC 220V(-15%)~240V(+10%) ·...
Page 31: Motor Power Cable Wiring
DA180 series basic AC servo drive Wiring instructions 3.3 Motor power cable wiring 3.3.1 Power cable for base-60/80 motors using 17- or 23-bit encoders View in direction A Wiring mapping Core wire Definition color X1.1 X2.4 Blue X1.2 X2.3 X1.3 X2.1 Brown Ground...
Page 32: Wiring For Control I/O Terminal Cn1
DA180 series basic AC servo drive Wiring instructions Wiring mapping Core wire Signal color X1.12 X2.4 VB-3.6V X2.5 Twisted pair VB-GND X2.6 Metal Metal shell Woven shell 3.4.2 Cable for 17- or 23-bit encoder used by base-130 motors View in direction A View in direction B Wiring mapping Core wire...
Page 33: Wiring For Encoder Terminal Cn2
DA180 series basic AC servo drive Wiring instructions 3.6 Wiring for encoder terminal CN2 CN2 functions Name Function Remarks V+/ SD+ Parallel encoder V+ / Serial encoder data+ Parallel encoder W+ Parallel encoder A+ Parallel encoder A- Encoder power supply Parallel encoder U+ V- /SD- Parallel encoder V- /Serial encoder data-...
Page 34: Wiring For Usb Terminal Cn4
DA180 series basic AC servo drive Wiring instructions CN3 functions Name Function Remarks CAN_L CAN data- Each signal occupies two pins, for easy CAN_H CAN data+ multidevice networking. 3, 6 Unused 3.8 Wiring for USB terminal CN4 Pin1 Pin5 CN4 functions Name Function Remarks...
Page 35 DA180 series basic AC servo drive Wiring instructions Name Function Remarks EXA+ Parallel (or second) encoder A+ EXA- Parallel (or second) encoder A- EX5V +5V power EXB- Parallel (or second) encoder B- EXB+ Parallel (or second) encoder B+ Power ground, connected to the internal EX0V EXZ- Parallel (or second) encoder Z-...
Page 36: Control Modes
DA180 series basic AC servo drive Control modes Control modes 4.1 Standard wiring diagram for position control ................ 31 4.2 Standard wiring diagram for speed control ................32 4.3 Standard wiring diagram for torque control ................33 4.4 CN1 function description ..................... 34 4.4.1 CN1 pins ........................
Page 37: Standard Wiring Diagram For Position Control
DA180 series basic AC servo drive Control modes 4.1 Standard wiring diagram for position control Position control mode Internal DC12V power Note: user-provided Note: Capacity 100mA DC12~24V RDY+ ①24V power, with a built-in DI common terminal COM+ current limit resistor Servo being ready RDY- Emergency stop...
Page 38: Standard Wiring Diagram For Speed Control
DA180 series basic AC servo drive Control modes 4.2 Standard wiring diagram for speed control Speed control mode Internal DC12V power Note: user provided Note: Capacity 100mA DC12~24V RDY+ common terminal COM+ Servo being ready RDY- Emergency stop Max load ALM+ capability for Servo enabling...
Page 39: Standard Wiring Diagram For Torque Control
DA180 series basic AC servo drive Control modes 4.3 Standard wiring diagram for torque control Torque control mode Internal DC12V power Note: user provided Note: Capacity 100mA DC12~24V RDY+ common terminal COM+ Servo being ready RDY- Max load Emergency stop ALM+ capability for Servo enabling...
Page 40: Cn1 Function Description
DA180 series basic AC servo drive Control modes 4.4 CN1 function description 4.4.1 CN1 pins DO2+ DO1+ DO3+ DO3- DO1- COM+ DO4+ PULS- PULS+ DI10 DO2- DO4- SIGN- SIGN+ CN1 plug pin and signal layout 4.4.2 CN1 pin functions Sign Function Sign Function...
Page 41: Power Signals
DA180 series basic AC servo drive Control modes 4.4.3 Power signals Sign Name Function Ground for analog input signals and A/B/Z frequency 6, 12 Signal ground division output signals  If DI is active low (0V), COM+ connects to the positive polarity of the external 12V–24V power.
Page 42 DA180 series basic AC servo drive Control modes Position mode Speed mode Sign Name Default Symbol Function Default Symbol Function readiness readiness output output Digital output DO2 15/19 0x003 Fault output 0x003 Fault output Digital output Position Speed 11/8 0x007 0x009 COIN completion...
Page 43 DA180 series basic AC servo drive Control modes 4.4.4.1 Digital input functions Applicable Signal Symbol Function mode Disabling forward drive 0x01 Disabling reverse drive 0x02 Signal of disabling the drive to the forward or reverse direction. The detailed action is associated with the setting of P3.40 [Disable travel limit switch].
Page 44 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Clearing residual pulses 0x07 Control signal of clearing residual pulses. The detailed action is associated with the setting of P3.45 [Residual pulse clearing mode]. If P3.45 is set to 0, which indicates electrical-level clearing, residual pulses are always 0 when this digital input is valid.
Page 45 DA180 series basic AC servo drive Control modes Signals of selecting from internal-speed commands 1 to 8 or from internal speed limits 1 to 4. Associated parameter Control mode Setting of P0.40 SPD3 SPD2 SPD1 and setting P0.46, internal speed 1 P0.47, internal speed 2 P0.48, internal speed 3 P0.49, internal speed 4...
Page 46 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Internal position command 4 POS4 0x13 Internal position command 5 POS5 0x20 Internal position command 6 POS6 0x21 Internal position command 7 POS7 0x22 These signals are used to select from position commands 0–127 in point-to-point (PTP) control mode, with the same function as P5.20 [PTP trigger signal] in bus control mode.
Page 47 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode PtP2.53[Position of segment 126] PtP2.55[Position of segment 127] Applicable Signal Symbol Function mode External fault 0x14 Signal of reporting an external fault alarm. If this digital input is valid, the drive reports the alarm Er10-3 and stops. Applicable Signal Symbol...
Page 48 DA180 series basic AC servo drive Control modes Signal of controlling the triggering of homing which is led by the drive. It is valid in the rising edge. This digital input has no relation with bus control. P5.15 [Homing trigger command] has the same function.
Page 49 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Quick stop Q-STOP 0x1D Signal of externally controlling quick stop. If this digital input is valid, the control motor of the drive decelerates from current speed to 0 according to the regular curve set by P0.69 [DEC time for quick stop].
Page 50 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Enabling terminal jogging DJOG 0x2C If this digital input is valid, terminal jogging is valid. Applicable Signal Symbol Function mode Gantry synchronization 0x2D cancellation input If this digital input is valid, gantry synchronization is cancelled. Applicable Signal Symbol...
Page 51 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Turret reverse jog 0x33 If this digital input is valid, the turret jogs reversely. Applicable Signal Symbol Function mode Magnetic pole check PDET 0x34 If this digital input is valid, the magnetic pole is checked. 4.4.4.2 Digital output functions Applicable Signal...
Page 52 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Position command existence PCMD 0x06 This signal outputs whether there is a position command. If it is valid, there is a non-zero position command which executes motor control. Applicable Signal Symbol...
Page 53 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode Speed command existence SCMD 0x0C This signal outputs whether there is a speed command. If it is valid, there is a non-zero speed command which executes motor control. Applicable Signal Symbol...
Page 54 DA180 series basic AC servo drive Control modes Applicable Signal Symbol Function mode PTP output 2 PTPO2 0x18 It is the signal of PTP output 2. Applicable Signal Symbol Function mode PTP output 3 PTPO3 0x19 It is the signal of PTP output 3. Applicable Signal Symbol...
Page 55: Pulse Input Signals And Functions
DA180 series basic AC servo drive Control modes 4.4.5 Pulse input signals and functions Sign Signal Function  In position control mode, the terminals function as Position command PULS+ position command input terminals. pulse input 1  In other control modes, the terminals are invalid. PULS- ...
Page 56: Wiring Description For Cn1
DA180 series basic AC servo drive Control modes 4.5 Wiring description for CN1 4.5.1 Digital input circuit wiring DC12~24V DC12~24V 2 COM+ 2 COM+ 16 DI1 16 DI1 Drive side Drive side DC12~24V DC12~24V 2 COM+ 2 COM+ 16 DI1 16 DI1 Drive side Drive side...
Page 57 DA180 series basic AC servo drive Control modes Method 2: Open collector connection 1 Control module using NPN triodes with common cathode: Twisted Shielded pair cable 38 OCP PULSE 24 PULS- 31 OCS SIGN 33 SIGN- DC24V Control module Drive side side Control module using PNP triodes with common anode: DC24V...
Page 58: Analog Input Circuit Wiring
DA180 series basic AC servo drive Control modes Control module using PNP triodes with common anode: Shielded Twisted cable pair Current limit 23 PULS+ resistor R PULSE 24 PULS- Current limit resistor R 32 SIGN+ SIGN 33 SIGN- Control module Drive side side The maximum input pulse frequency is 200 kHz.
Page 59: Digital Output Circuit Wiring
DA180 series basic AC servo drive Control modes 4.5.4 Digital output circuit wiring Wiring method in which user-provided power is used Connect a free-wheeling Connect to a current limit Drive side Drive side diode if an inductive load is resistor if an optical coupler connected.
Page 60: Wiring Description For Cn5
DA180 series basic AC servo drive Control modes 4.5.6 Electromagnetic brake wiring If the servo motor is used to drive the vertical shaft, the electromagnetic brake can be used to prevent against the falling of heavy objects or keep the falling speed when the servo drive is out of power. See the following wiring diagram for the electromagnetic brake.
Page 61: Operating And Running
DA180 series basic AC servo drive Operating and running Operating and running 5.1 Running ..........................56 5.1.1 First power-on ......................56 5.1.2 Trial run by jogging ....................57 5.1.3 Running in position control mode ................58 5.1.4 Running in speed control mode ................59 5.1.5 Running in the torque control mode ................
Page 62: Running
DA180 series basic AC servo drive Operating and running 5.1 Running 5.1.1 First power-on Ensure the following before the power-on: Wiring  The power supply (L1 and L2) of the servo drive is connected correctly. For details, see section 3.2 "Main circuit terminal wiring". ...
Page 63: Trial Run By Jogging
DA180 series basic AC servo drive Operating and running 5.1.1.2 Checking after power-on After the power is switched on, if the powering is normal, each position on the LED panel displays 0 and then 8. If the servo drive does not report a fault alarm, the default monitoring menu (motor speed by default) is displayed, and the servo drive and servo motor do not sound abnormally.
Page 64: Running In Position Control Mode
DA180 series basic AC servo drive Operating and running 5.1.3 Running in position control mode Simplified wiring Servo drive 12~24V COM+ Parameter Function Setting … … P0.03 Control mode … … Depends on … Pulses per motor … P0.22 the actual resolution situation.
Page 65: Running In Speed Control Mode
DA180 series basic AC servo drive Operating and running 5.1.4 Running in speed control mode Simplified wiring Servo drive 12~24V COM+ … … Parameter Function Setting … … P0.03 Control mode … … P0.40 Speed command source P3.26 Function of AI 1 Upper analog input 1 P0.42...
Page 66: Running In The Torque Control Mode
DA180 series basic AC servo drive Operating and running 5.1.5 Running in the torque control mode Simplified wiring Servo drive 12~24V COM+ Parameter Function Setting … P0.03 Control mode … … … P0.60 Torque command … … source P3.27 Function of AI 2 P0.61 Torque command Depends on...
Page 67: Setting Parameters Before Servo Running
DA180 series basic AC servo drive Operating and running 5.1.6 Setting parameters before servo running To meet onsite application function and performance requirements, you must set parameters by using the LED panel, PC software, or communication means before servo running. Chapter 6 describes all parameters, among which some must be set depending on the actual application requirements, such as the pulse input manner, electronic gear ratio, encoder output frequency division coefficient, and analog input upper or lower limit, while some must be set depending on the actual commissioning...
Page 68: Servo Stop And Running Stop
DA180 series basic AC servo drive Operating and running 5.1.8 Servo stop and running stop The drive cuts off output immediately, and the motor coasts to stop until it decelerates to the zero speed, but it does not keep in locked state, which is servo stop. The drive outputs reverse torque, and the motor decelerates to the zero speed and enters the locked state, which is running stop.
Page 69: Timing Sequence
DA180 series basic AC servo drive Operating and running 5.1.9 Timing sequence 5.1.9.1 Timing sequence for power-on and servo turning on Powering-on Servo turning-on process process Main power Main circuit powered on About 1.2s Microprocessor Program Program started state initialized running Note 1 Servo readiness...
Page 70 DA180 series basic AC servo drive Operating and running 5.1.9.2 Timing sequence for power-off during running Note 1 Main power Main circuit power lost PWM output Servo with output Servo without output Servo readiness Valid Invalid output (RDY) Microcontroller Program running Program stopped running state Note 2...
Page 71 DA180 series basic AC servo drive Operating and running 5.1.9.4 Timing sequence for servo turning off in running state Servo enabling (SON) Enabled Disabled Servo fault output No fault alarm (ALM) Servo ready Valid output (RDY) Dynamic brake Dynamic brake state Note 1 Dynamic brake switched on switched off...
Page 72: Display And Operating
DA180 series basic AC servo drive Operating and running 5.2 Display and operating 5.2.1 Display  Keypad diagram Display MODE SET/ MODE key SET/SHIFT key UP key DOWN key  LED characters and meanings Character Meaning Character Meaning Character Meaning Character Meaning -66-...
Page 73 DA180 series basic AC servo drive Operating and running  Key functions Function MODE Used to switch between different modes or return to the previous menu. Used to select parameter upwards or increase values. For a parameter displayed in multiple segments, it can be used to shift to the most significant bit (MSB), middle, and least significant bit (LSB) segments.
Page 74: Common Monitoring Mode
DA180 series basic AC servo drive Operating and running In parameter setting mode, press SHIFT to move the cursor left and then press UP/DOWN to change the setting for the MSB. After parameters are set, press SET to save the parameter settings or execute commands. After parameters are set, the LED panel displays (if the parameters are storage parameters and P0.17 is set to 0 [Individually]) or...
Page 75: Monitoring Mode
DA180 series basic AC servo drive Operating and running 5.2.3 Monitoring mode You can press MODE to switch to the monitoring mode. Then you can press SHIFT to select group codes for monitoring parameters circularly in one way, press UP/DOWN to select codes for parameters in a group, or hold UP/DOWN for quick selection.
Page 76: Auxiliary Function Mode
DA180 series basic AC servo drive Operating and running 5.2.5 Auxiliary function mode 5.2.5.1 Functions You can press MODE to enter the auxiliary function mode and press UP/DOWN to select auxiliary functions. Symbol Function Program Jog Factory restore Program jogging Zero-drift clearing for analog input 1 Zero-drift clearing for analog input 2 Zero-drift clearing for analog input 3...
Page 77 DA180 series basic AC servo drive Operating and running MODE MODE 5.2.5.4 Program jogging After the run parameters P5.00–P5.05 are set, you can press MODE to switch to the auxiliary function mode. Then you can press UP/DOWN to enter the menu and press SET to enter the program jogging screen, displaying .
Page 78: Alarm Reporting
DA180 series basic AC servo drive Operating and running MODE MODE 延时3秒延时2秒 5.2.5.6 Absolute encoder clearing If a multiturn absolute encoder is used, the homing operation for the mechanical system must be performed after the first power-on. Then you can press MODE to enter the auxiliary function mode, press UP/DOWN to enter the menu, and press SET to enter the absolute encoder clearing menu, which displays...
Page 79: Alarm Clearing
DA180 series basic AC servo drive Operating and running 5.2.7 Alarm clearing For the fault alarms that can be cleared online, if there no are fault trigger conditions, the fault alarms can be cleared by short connecting the digital input fault clearing terminal (that is, parameters P3.00– P3.07 are set to 0x004 or 0x104) to COM-.
Page 80: Function Codes
DA180 series basic AC servo drive Function codes Function codes 6.1 Basic control (group P0)...................... 75 6.1.1 Basic settings ......................75 6.1.2 Position control ....................... 85 6.1.3 Speed and torque control..................90 6.1.4 Control mode switching ..................101 6.2 Autotuning control (group P1) .................... 102 6.2.1 Inertia identifying (or automatic gain) ..............
Page 81: Basic Control (Group P0)
For example, the nameplate of a 400W motor is as follows: MODEL: SV-ML06-0R4G-2-4A0-3000 INPUT: AC 3PH 220V 2.8A OUTPUT(RATED): 400W 3000r/min 1.3N· m IP65 S1 CLASS F NO.3010004(236) S/N: MADE IN CHINA INVT INDUSTRIAL TECHNOLOGY CO.,LTD. -75-...
Page 82 DA180 series basic AC servo drive Function codes In the figure, 3010004 in "No.3010004" is the value of this parameter. Note: Incorrect setting of this parameter may cause abnormal running or even serious drive or motor fault. Ensure that the parameter setting matches the motor before the first power-on. Data size 32bit Data format...
Page 83 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P0.03 Control mode 0–9 This parameter specifies the system working mode. Primary Secondary Setting Description mode mode Position mode: The angular displacement of the servo motor is controlled through internal or external position commands, thus achieving the control over mechanical motion displacement.
Page 84 DA180 series basic AC servo drive Function codes Switching between the speed and torque modes: The speed mode and torque mode can be switched through the control mode switching terminal. Speed mode Torque mode Speed mode Mode switching signal (MCH) Motor speed Load torque...
Page 85 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Internal enabling mode P0.04* command 0–1 This parameter is used to control the working status of the servo drive. The mapping between the settings of this parameter and external terminal enabling commands are as follows: Setting External terminal command...
Page 86 DA180 series basic AC servo drive Function codes Applicable Numerator of Setting range Default Unit mode P0.06 frequency division output coefficient 0–(2 10000 Applicable Denominator of Setting range Default Unit mode P0.07 frequency division output coefficient 1–(2 131072 By setting the numerator and denominator of the frequency division output coefficient, the position from the encoder feedback can be frequency divided by any integer or decimal fraction and then output through the encoder pulse output signal terminals (OA+, OA-, OB+ and OB-, corresponding to pins 44, 43, 41, and 42) of the CN1 plug.
Page 87 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Reverse frequency mode P0.08 division output 0–1 This parameter specifies whether to reverse the phase-B pulse logic of pulse output. Then the phase relationship between phase-A pulses and phase-B pulses can be changed. Logic of Setting phase B...
Page 88 DA180 series basic AC servo drive Function codes Ta[ms]=|P0.11[%]-P0.10[%]|×P4.51[ms/100%]/100 P0.11 P0.10 P0.10 Zero torque Tb[ms]=|P0.10[%]-P0.11[%]|×P4.52[ms/100%]/100 Data size 16bit Data format P0.09 Modbus address 1018, 1019 CANopen address 0x2009, 0x00 Applicable Setting range Default Unit mode P0.10 Max. torque limit 1 0.0–500.0 300.0 Applicable...
Page 89 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit External brake mode P0.13 resistor power 0–5000 Applicable Setting range Default Unit External brake mode P0.14 resistor resistance Ω 1–1000 If an external brake resistor is used, the settings of the parameters must be the same as the power and resistance of the external brake resistor.
Page 90 DA180 series basic AC servo drive Function codes Torque limit Encoder feedback value pulse Rotor position relative to phase-Z pulse pulse Load inertia ratio Output power Motor load ratio Numerator of actual electronic gear ratio Denominator of actual electronic gear ratio Pulse-corresponded speed command r/min...
Page 91: Position Control
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P0.18* Factory password 0–65536 This parameter enables you to view factory parameters and modify menus. Data size 16bit Data format P0.18* Modbus address 1036, 1037 CANopen address 0x2012, 0x00 Applicable Setting range...
Page 92 DA180 series basic AC servo drive Function codes Data size 32bit Data format P0.22 Modbus address 1044, 1045 CANopen address 0x2016, 0x00 Setting Applicable Default Unit range mode P0.23 Pulse input mode 0–2 This parameter specifies the pulse input mode. There are three pulse input modes available. Diagram Signal Setting...
Page 93 DA180 series basic AC servo drive Function codes Applicable Numerator of Setting range Default Unit mode P0.25 electronic gear ratio 0–(2 Applicable Setting range Default Unit Denominator of mode P0.26 electronic gear ratio 1–(2 10000 Numerator of Applicable Setting range Default Unit mode...
Page 94 DA180 series basic AC servo drive Function codes  In the expression, : Feed corresponding to each pulse (mm/pulse)  : Feed corresponding to each rotation motor (mm/rotation) In this example: g1=50, g2=3 The servo drive has four groups of electronic gear ratio. You can determine which parameters are selected from P0.25, P0.26, P0.27 P0.28, and P0.29 to make up the electronic gear ratio through the electronic gear ratio selection terminals SC1 and SC2 of the CN1 plug.
Page 95 DA180 series basic AC servo drive Function codes Position before filtering Speed Position after filtering 0.632Vc Position after filtering 0.368Vc Time P0.33 P0.33 Data size 16bit Data format P0.33 Modbus address 1066, 1067 CANopen address 0x2021, 0x00 Applicable Setting range Default Unit Position command...
Page 96: Speed And Torque Control
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Software limit in mode P0.36 CW position control -1)–(2 reference unit This parameter specifies the software limit in CW position control. If P0.35 is 0 and P0.36 is 0, software limit is invalid. Note: The software limit function is valid only when this parameter is less than P0.35.
Page 97 DA180 series basic AC servo drive Function codes See the descriptions for P0.46–P0.53. You need to set either P3.26 [Function of AI 1] or P3.27 [Function Analog input of AI 2] to 3 [Speed command] and set associated parameters according to the actual situation. The communication bus interface can be used to receive speed commands from the upper computer.
Page 98 DA180 series basic AC servo drive Function codes 1. The function of analog input 1 is speed command. 2. The voltage of analog input 1 corresponds to the conversion gain of the motor command speed. 3. P0.40 is set to 1. 4.
Page 99 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Internal speed 1/speed mode P0.46 limit 1 -20000–20000 r/min Applicable Setting range Default Unit Internal speed 2/speed mode P0.47 limit 2 -20000–20000 r/min Applicable Setting range Default Unit Internal speed 3/speed mode...
Page 100 DA180 series basic AC servo drive Function codes Note: SPD1, SPD2, SPD3 are the digital inputs of internal speed commands 1, 2, and 3 (corresponding to 0x00A, 0x00B, and 0x00C). 0: OFF (The internal optical coupler corresponding to the input is not conducted.) 1: ON (The internal optical coupler corresponding to the input is conducted.) The speed limits depend on the absolute values of the parameters and, the directions are the same as those in torque commands.
Page 101 DA180 series basic AC servo drive Function codes Speed v Rated speed Specified speed Time P0.54 P0.55 Note: This group of parameter is valid only in speed mode. Data size 16bit Data format P0.54 Modbus address 1108, 1109 CANopen address 0x2036, 0x00 Data size 16bit...
Page 102 DA180 series basic AC servo drive Function codes Data size 16bit Data format P0.57 Modbus address 1114, 1115 CANopen address 0x2039, 0x00 Applicable Setting range Default Unit Zero speed clamp mode P0.58 mode 0–3 This parameter specifies the zero speed clamp mode. Setting In position command mode Invalid (The zero speed clamp input is ignored.)
Page 103 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Torque command mode P0.60 source 0–3 This parameter specifies the command source in torque control. Setting Input mode Description Internally Specified by P0.66. specified You need to set either P3.26 [Function of AI 1], P3.27 [Function of AI 2], or P3.70 [Function of AI 3] to 4 [Torque Analog input command] and set associated parameters according to the...
Page 104 DA180 series basic AC servo drive Function codes Defaul Applicable Setting range Unit mode P0.62 Gain of AI 2 0–2000 [P3.27 unit]/V This parameter specifies the gain of analog input 2. The gain unit is associated with P3.27. Note: Analog input 2 indicates the signal input from the analog speed/speed limit terminals (AD2 and GND, corresponding to pin 20 and pin 19) of the CN1 plug.
Page 105 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P0.65 Dead zone of AI 2 0.000–3.000 0.000 If the absolute voltage value of analog input 2 falls in the range of this parameter, the corresponding command value is 0. Data size 16bit Data format...
Page 106 DA180 series basic AC servo drive Function codes Data size 16bit Data format P0.68 Modbus address 1136, 1137 CANopen address 0x2044, 0x00 Applicable Setting range Default Unit DEC time for quick mode P0.69 stop 0–10000 This parameter specifies the DEC time for quick stop. It indicates the time taken to decelerate from 100% of the rated speed to 0.
Page 107: Control Mode Switching
DA180 series basic AC servo drive Function codes 6.1.4 Control mode switching Setting Applicable Max. speed limit of Default Unit range mode P0.90 control mode switching 1–1000 r/min This parameter specifies the maximum running speed during positioning for switching from the speed or torque mode to the position mode when the hybrid of position and speed or the hybrid of position and torque is used.
Page 108: Autotuning Control (Group P1)
DA180 series basic AC servo drive Function codes 6.2 Autotuning control (group P1) 6.2.1 Inertia identifying (or automatic gain) Applicable Setting range Default Unit P1.00 Tune inertia online mode 0–1 This parameter specifies whether to automatically tune inertia online and adjust the gain. Setting Meaning Online inertia identifying is invalid.
Page 109 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P1.03 Mechanical rigidity 0–31 A greater mechanical rigidity value indicates quicker response and high rigidity performance, but it increases the possibility to cause vibration. In stable working condition, you can set a greater value to obtain quicker response.
Page 110 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Inertia identifying mode P1.05 mode 0–3 This parameter specifies the work mode for identifying inertia. Setting Meaning Forward rotation and then reverse rotation Forward rotation Reverse rotation Reverse rotation and then forward rotation Data size 16bit...
Page 111: Self-Adaptive Vibration Control
DA180 series basic AC servo drive Function codes Data size 16bit Data format P1.08 Modbus address 1216, 1217 CANopen address 0x2108, 0x00 6.2.2 Self-adaptive vibration control Applicable Setting range Default Unit Resonance mode P1.19 detection sensitivity 0.2–100.0 This parameter specifies the sensitivity of the automatic detection on mechanical resonant frequency.
Page 112 DA180 series basic AC servo drive Function codes Data size 16bit Data format P1.20 Modbus address 1240, 1241 CANopen address 0x2114, 0x00 Applicable Mechanical Setting range Default Unit mode P1.21* resonant frequency 0–5000 5000 Applicable Mechanical Setting range Default Unit P1.22* resonant frequency mode...
Page 113 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Depth of notch filter mode P1.25 0–100 This parameter specifies the amplitude attenuation rate of notch filter 1. A large value of this parameter indicates low notch filter depth and small phase lag. Data size 16bit Data format...
Page 114 DA180 series basic AC servo drive Function codes Modbus address 1260, 1261 CANopen address 0x211E, 0x00 Data size 16bit Data format P1.31 Modbus address 1262, 1263 CANopen address 0x211F, 0x00 Applicable Setting range Default Unit Frequency of notch mode P1.32 filter 4 50–5000 5000...
Page 115: Motor Control (Group P2)
DA180 series basic AC servo drive Function codes Setting Applicable Default Unit Vibration control range mode P1.36 frequency 1 0.0–200.0 This parameter specifies the frequency at which the vibration at the load peak is suppressed. Note: The frequency must range from 1.0 Hz to 200.0 Hz. Data size 16bit Data format...
Page 116 DA180 series basic AC servo drive Function codes Data size 16bit Data format P2.00 Modbus address 1400, 1401 CANopen address 0x2200, 0x00 Setting Applicable Default Unit Speed integral time range mode P2.01 constant 1 0.1–1000.0 21.0 This parameter specifies the integral time constant of the speed loop. A smaller value of this parameter indicates quicker response, but it increases the possibility to cause vibration and noise.
Page 117 DA180 series basic AC servo drive Function codes Setting Applicable Default Unit range mode P2.05 Speed gain 2 0.0–3276.7 27.0 Setting Applicable Default Unit Speed integral time range mode P2.06 constant 2 0.1–1000.0 1000.0 Setting Applicable Default Unit range mode P2.07 Position gain 2 0.0–3276.7...
Page 118 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Speed feed-forward mode P2.11 filter time 0.00–64.00 0.50 This parameter specifies the speed feed-forward filter time. Data size 16bit Data format P2.11 Modbus address 1422, 1423 CANopen address 0x220B, 0x00 Applicable Setting range...
Page 119: Gain Switching
DA180 series basic AC servo drive Function codes Data size 16bit Data format P2.15 Modbus address 1430, 1431 CANopen address 0x220F, 0x00 6.3.2 Gain switching Applicable Setting range Default Unit mode P2.20 Setting of gain 2 0–1 This parameter specifies the adjustment for gain switching. Setting Meaning The first gain is fixed.
Page 120 DA180 series basic AC servo drive Function codes When the second gain is used, if the absolute value in the speed command does not reach (level − lag) [r/min] and this state keeps in the delay time, the second gain is switched to the first gain.
Page 121 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Switching delay in mode P2.23 position control 0–10000 In position control, if P2.22 is in the range of 3–9, the first gain is switched back from the second gain.
Page 122 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Switching trigger in mode P2.27 speed control 0–5 This parameter specifies the trigger of gain switching in speed control. Setting Trigger Description Gain parameters are fixed to the first gain parameters P2.00– Fixed to gain 1 P2.04.
Page 123 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Switching level in mode P2.29 speed control 0–20000 Mode based In speed control, if P2.27 is in the range of 3–5, the trigger of gain switching must be set. The unit varies with the switching mode and associated settings.
Page 124: Special Motor Control
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Switching delay in mode P2.32 torque control 0–10000 In torque control, if P2.31 is set to 3, the first gain is switched back from the second gain. This parameter specifies the time from the triggering to the actual switching.
Page 125 DA180 series basic AC servo drive Function codes Applicable Disturbance Setting range Default Unit mode P2.42 observer compensation gain 0–100 This parameter specifies the compensation gain for disturbance torque. Increasing the gain may improve the effect of suppressing disturbance impact but the noise may increase. This parameter needs to be used with P2.43 to find the best setting point.
Page 126 DA180 series basic AC servo drive Function codes Applicable Fully-closed loop vibration Setting range Default Unit mode P2.51 suppressor cut-off frequency 1.0–500.0 100.0 This parameter specifies the cut-off frequency of the closed-loop vibration suppressor. Data size 16bit Data format P2.51 Modbus address 1502, 1503 CANopen address...
Page 127 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P2.56 Attenuation gain 0–1000 This parameter specifies the attenuation gain for medium frequency vibration control. The default value 0 indicates that there is no attenuation effect on medium frequency vibration control.
Page 128 DA180 series basic AC servo drive Function codes Setting Applicable Default Unit range mode P2.61 Speed observer gain 1–1000 This parameter specifies the speed observer gain. Increasing this parameter improves the response to the actual speed, but it may increase the possibility to cause vibration and noise. Data size 16bit Data format...
Page 129: I/O Management (Group P3)
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Torque mode P2.85 feed-forward 0–1 This parameter specifies torque feed-forward. Setting Meaning Speed command Position command Data size 16bit Data format P2.85 Modbus address 1570, 1571 CANopen address 0x2255, 0x00 6.4 I/O management (group P3) 6.4.1 Digital input/output...
Page 130 DA180 series basic AC servo drive Function codes Zero speed clamp 0x10D 0x00D Speed command sign S-SIGN 0x10E 0x00E Torque command sign T-SIGN 0x10F 0x00F Internal position command 1 0x110 0x010 Internal position command 2 0x111 0x011 Internal position command 3 POS3 0x112 0x012...
Page 131 DA180 series basic AC servo drive Function codes Master gantry synchronization alignment 0x12E 0x02E sensor Slave gantry synchronization alignment 0x12F 0x02F sensor Dynamic brake relay 0x130 0x030 feedback Auto/manually switching 0x131 0x031 turrets Turret forward jogging 0x132 0x032 Turret reverse jogging 0x133 0x033 Magnetic pole check...
Page 132 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P3.07 Input of digital 8 0x000–0x136 0x002 Applicable Setting range Default Unit mode P3.08 Input of digital 9 0x000~0x136 0x007 Applicable Setting range Default Unit mode P3.09 Input of digital 10 0x000~0x136...
Page 133 DA180 series basic AC servo drive Function codes optical coupler is not conductive. In the expression of 0x—**, ** indicate function settings. The detailed function settings are listed in the following. Setting Applicable Valid when Valid when Signal Symbol optical coupler optical coupler mode not conducted...
Page 134 DA180 series basic AC servo drive Function codes Note: The default values indicate the functions applied in position mode. Data size 16bit Data format P3.10 Modbus address 1620, 1621 CANopen address 0x230A, 0x00 Applicable Setting range Default Unit mode P3.11 Output of digital 2 0x000–0x11F 0x003...
Page 135: Analog Input/Output
DA180 series basic AC servo drive Function codes Data size 16bit Data format P3.16 Modbus address 1632, 1633 CANopen address 0x2310, 0x00 6.4.2 Analog input/output Applicable Setting range Default Unit mode P3.20 Offset of AI 1 -10.000–10.000 0.000 This parameter is used to adjust analog input 1 to improve the effective accuracy of the AI. Due to reasons such as the zero drift of analog input devices or induced voltage in the ambient environment, the actual analog input value may deviate from the expected value, and such deviation can be eliminated by setting the offset of AI.
Page 136 DA180 series basic AC servo drive Function codes Command before filtering Input 1 Command after filtering 0.632Vc Command after filtering 0.368Vc Time P3.21 P3.21 Data size 16bit Data format P3.21 Modbus address 1642, 1643 CANopen address 0x2315, 0x00 Applicable OV protection threshold Setting range Default Unit...
Page 137 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P3.24 Filter of AI 2 0.0–1000.0 This parameter specifies the time constant of the first-order low-pass filter corresponding to analog input 2. Setting this parameter can smooth the command change when the analog input changes sharply.
Page 138 DA180 series basic AC servo drive Function codes This group of parameter specifies functions for analog inputs. Setting Meaning Unit Invalid Speed limit r/min Forward torque limit 0.1% Speed command r/min Torque command 0.1% Speed compensation r/min Torque compensation 0.1% Reverse torque limit 0.1% Data size...
Page 139 DA180 series basic AC servo drive Function codes This group of parameter specifies monitoring parameters for analog output. Setting Meaning Unit Invalid Motor speed r/min Speed in a position command r/min Internal position command pulse (encoder unit) Speed command r/min Torque command 0.1% Torque feedback...
Page 140 DA180 series basic AC servo drive Function codes the following figure for the relationship between the actual speed reference and output voltage: Speed (r/min) 3000r/min P3.31=300 1000r/min P3.31=100 10.00V AO1 output voltage (V) Note:  In the example, when the actual output speed is 3000 r/min or above, the output voltage of AO1 is always 10V.
Page 141: Digital Input/Output Associated Settings
DA180 series basic AC servo drive Function codes Data size 16bit Data format P3.36 Modbus address 1672, 1673 CANopen address 0x2324, 0x00 6.4.3 Digital input/output associated settings Applicable Setting range Default Unit Disable travel limit mode P3.40 switch 0–2 This parameter specifies whether the forward drive disabling (0x001 or 0x101) digital input and reverse drive disabling (0x002 or 0x102) digital inputs in P3.00–P3.07 are valid.
Page 142 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P3.43 Digital input filter 1–800 0.125ms This parameter specifies the filter time of the digital input. Note: This parameter independently functions for 10 digital inputs. Data size 16bit Data format P3.43...
Page 143 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Output mode of mode P3.51 position arrival 0–4 This parameter specifies the output condition and subsequent action of position arrival. Setting Meaning The output is valid when the position deviation is in the range of P3.50. The output is valid when there is no position command and the position deviation is in the range of P3.50.
Page 144 DA180 series basic AC servo drive Function codes If the detection finds there is a lag of 10 r/min, the actual speed consistency range is as follows: If the speed consistency output is invalid, the validity threshold is (P3.53 – 10) r/min. If the speed consistency output is valid, the invalidity threshold is (P3.53 + 10) r/min.
Page 145 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Electromagnetic mode P3.57 brake closing delay 0–30000 This parameter specifies the delay time of closing the electromagnetic brake. If the servo is off or an alarm is reported in running state and the speed may be too fast, the digital output of the electromagnetic brake release signal (0x005 or 0x105) becomes invalid after a period of delay.
Page 146: Extension And Application (Group P4)
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P3.90 Pulse input filter time 0–7 This parameter specifies the filter time for detecting pulse input. Setting Detection bandwidth 400kHz 500kHz 1MHz 2MHz 4MHz No filtering 200kHz 100kHz Data size...
Page 147 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P4.02 CAN baud rate 0–5 This parameter specifies the CAN communication baud rate. Setting Meaning 1000kbps 500kbps 250kbps 125kbps 50kbps 20kbps Data size 16bit Data format P4.02 Modbus address 1804, 1805...
Page 148 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P4.05 CAN node no. 1–127 This parameter specifies the local (or slave) node number in CAN communication. Data size 16bit Data format P4.05 Modbus address 1810, 1811 CANopen address 0x2405, 0x00 Setting...
Page 149: Servo Types And Communication Control Commands
DA180 series basic AC servo drive Function codes Data size 16bit Data format P4.08 Modbus address 1816, 1817 CANopen address 0x2408, 0x00 Setting Applicable Default Unit EtherCAT fault detection range mode P4.09 time 0–1000 This parameter specifies the fault detection time in EtherCAT communication. Note: The value 0 indicates EtherCAT faults are not detected.
Page 150 DA180 series basic AC servo drive Function codes Defaul Applicable Setting range Unit Bus position mode P4.12* command -1)–(2 reference unit This parameter specifies the position command for the drive when P4.10 is set to 1. Data size 32bit Data format P4.12* Modbus address 1824, 1825...
Page 151 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Gain switching mode P4.16* command 0–1 This parameter specifies whether to enable gain switching for the drive. When P2.22, P2.27, and P2.31 are set to 2, the actual gain settings are used for switching. Setting Meaning Actual gain...
Page 152 DA180 series basic AC servo drive Function codes Applicable Zero speed clamp Setting range Default Unit P4.19* mode command 0–1 This parameter specifies whether to enable zero speed clamp. Setting Meaning Disable Enable Data size 16bit Data format P4.19* Modbus address 1838, 1839 CANopen address 0x2413, 0x00...
Page 153: Extension And Application
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Emergency stop mode P4.23* command 0–1 This parameter specifies whether to enable emergency stop for the drive. Setting Meaning Disable Enable Data size 16bit Data format P4.23* Modbus address 1846, 1847 CANopen address...
Page 154 DA180 series basic AC servo drive Function codes  If the servo motor runs at a speed higher than the rated one, you cannot enable the dynamic brake. If the servo motor runs at a high speed with a large inertia load, exercise caution before using the dynamic brake.
Page 155 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P4.34 Brake OL protection 0–2 This parameter specifies the regenerative brake mounting mode and overload protection mode. Setting Meaning Regenerative brake disabled Regenerative brake built in Regenerative brake externally connected Data size 16bit...
Page 156 DA180 series basic AC servo drive Function codes Data size 16bit Data format P4.37 Modbus address 1874, 1875 CANopen address 0x2425, 0x00 Applicable Setting range Default Unit Speed deviation mode P4.39 threshold 0–20000 r/min This parameter specifies the condition for detecting the speed deviation fault. If the absolute value of the actual speed command minus the motor speed is greater than the setting of this parameter and the deviation lasts more than 100ms, a speed deviation alarm is reported.
Page 157 DA180 series basic AC servo drive Function codes Applicable OT threshold of Setting range Default Unit mode P4.45 medium-power motor 0–200 ° C Temperature sampling from temperature resistor KTY84-130 is supported. If the temperature exceeds the setting of this parameter, a motor overtemperature (OT) fault is reported. The value 0 indicates temperature sampling is not conducted.
Page 158: Frequency-Division Output And Second-Encoder Settings
DA180 series basic AC servo drive Function codes Data size 16bit Data format P4.53 Modbus address 1906, 1907 CANopen address 0x2435, 0x00 Applicable Setting range Default Unit Delay after power-on mode P4.54 initialization 0–200000 This parameter specifies the delay time of servo enabling after power-on initialization is completed. Data size 32bit Data format...
Page 159 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Hybrid control mode P4.64 deviation limit 1–2 160000 reference unit In fully-closed loop control, there is a tolerance between the reference unit corresponding to the encoder feedback position and user reference unit corresponding to the grating ruler feedback position.
Page 160 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Frequency division mode P4.69 output source 0–4 This parameter specifies the signal source of frequency division output. Setting Meaning Normal frequency division output Second encoder Input from quadrature pulses in phases A and B Internal virtual shaft First encoder (valid only for incremental encoders) Data size...
Page 161 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Cascading mode of mode P4.72 encoder 2 1–12 This parameter specifies the cascading mode of the second encoder. Setting Meaning No cascading Slave node of RS485 synchronization. Master node of RS485 synchronization.
Page 162: Special Commands
DA180 series basic AC servo drive Function codes 6.5.5 Special commands Setting Applicable Default Unit range mode P4.90* Fault recovery 0–1 This parameter specifies whether to enable fault recovery. You can set this parameter on the upper computer to handle faults for the drive. Setting Meaning Disable...
Page 163 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P4.93* Read fault records 0–1 This parameter specifies whether to enable the function of reading fault records. If the function is enabled, the fault records specified by P4.95 are read and displayed. Setting Meaning Disable...
Page 164: Program Jog, Homing, And Ptp Control (Group P5)
DA180 series basic AC servo drive Function codes Setting Applicable Default Unit range mode P4.97* Write to encoder EEPROM 0–1 This parameter specifies whether to write all motor-related parameters to the EEPROM equipped with the communication encoder. In any following startup, the drive uses the data in the EEPROM for parameter initialization.
Page 165 DA180 series basic AC servo drive Function codes (Wait time P5.04→Forward moving P5.01) × Cycles P5.05 →(Wait time P5.04→Reverse movingP5.01) × Cycles P5.05 P5.05 P5.02 P5.05 P5.01 P5.01 P5.01 Speed 0 P5.01 P5.01 P5.01 P5.04 P5.03 P5.04 P5.04 P5.02 P5.04 P5.04 P5.04 (Wait time P5.04→Reverse moving P5.01) ×...
Page 166 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Jogging ACC/DEC mode P5.03 time 2–10000 This parameter specifies the acceleration or deceleration time at jogging. The setting of this parameter corresponds to the time taken to accelerate from the zero speed to the rated rotation speed.
Page 167: Homing
DA180 series basic AC servo drive Function codes 6.6.2 Homing Applicable Setting range Default Unit mode P5.10 Homing mode 0–128 This parameter specifies the homing mode. Display mode: DEC M: Homing mode Z: Locating phase Z T: Limit mode R: Reserved Limit mode Phase Z locating mode Home return mode...
Page 168 DA180 series basic AC servo drive Function codes Setting Meaning Disable Enable Note: Automatic homing upon power-on is valid only when there is no fault. Data size 16bit Data format P5.11 Modbus address 2022, 2023 CANopen address 0x250B, 0x00 Setting Applicable High speed at homing Default...
Page 169 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Homing trigger mode P5.15* command 0–1 This parameter specifies whether to trigger the homing function. It has the same function as the homing trigger terminal with digital input. Data size 16bit Data format...
Page 170: Ptp Control
DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Target position after mode P5.19 homing -1)–(2 reference unit This parameter specifies the target position after homing. Data size 32bit Data format P5.19 Modbus address 2038, 2039 CANopen address 0x2513, 0x00 6.6.3 PTP control...
Page 171 DA180 series basic AC servo drive Function codes 0–6000 r/min Applicable Setting range Default Unit mode P5.26 Target speed 05 0–6000 r/min Applicable Setting range Default Unit mode P5.27 Target speed 06 0–6000 r/min Applicable Setting range Default Unit mode P5.28 Target speed 07 0–6000...
Page 172 DA180 series basic AC servo drive Function codes Modbus address 2044, 2045 CANopen address 0x2516, 0x00 Data size 16bit Data format P5.23 Modbus address 2046, 2047 CANopen address 0x2517, 0x00 Data size 16bit Data format P5.24 Modbus address 2048, 2049 CANopen address 0x2518, 0x00 Data size...
Page 173 DA180 series basic AC servo drive Function codes 0–32767 Applicable Setting range Default Unit mode P5.40 ACC/DEC time 03 0–32767 Applicable Setting range Default Unit mode P5.41 ACC/DEC time 04 0–32767 Applicable Setting range Default Unit mode P5.42 ACC/DEC time 05 0–32767 Applicable Setting range...
Page 174 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P5.52 ACC/DEC time 15 0–32767 This group of parameter specifies the acceleration or deceleration time for each segment. Data size 16bit Data format P5.37 Modbus address 2074, 2075 CANopen address 0x2525, 0x00...
Page 175 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P5.53 Delay time 00 0–32767 Applicable Setting range Default Unit mode P5.54 Delay time 01 0–32767 Applicable Setting range Default Unit mode P5.55 Delay time 02 0–32767 Applicable Setting range...
Page 176 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit mode P5.66 Delay time 13 0–32767 4500 Applicable Setting range Default Unit mode P5.67 Delay time 14 0–32767 5000 Applicable Setting range Default Unit mode P5.68 Delay time 15 0–32767 5500 This group of parameter specifies the delay time for each segment.
Page 177 DA180 series basic AC servo drive Function codes Data size 16bit Data format P5.67 Modbus address 2134, 2135 CANopen address 0x2543, 0x00 Data size 16bit Data format P5.68 Modbus address 2136, 2137 CANopen address 0x2544, 0x00 Applicable Setting range Default Unit PTP control buffer mode...
Page 178: Application Functions (Group P6)
DA180 series basic AC servo drive Function codes Setting Meaning Binary input + Terminal trigger mode Single terminal trigger mode (supporting 7 PTPs only) Data size 16bit Data format P5.73 Modbus address 2146, 2147 CANopen address 0x2549, 0x00 Setting Applicable Digital output mode for Default Unit...
Page 179 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Reverse low mode P6.01 jogging speed -6000–0 r/min This parameter specifies the speed of slow reverse jogging, which is triggered by the reverse jogging terminal and high-low jogging speed switching terminal. Data size 16bit Data format...
Page 180 DA180 series basic AC servo drive Function codes Applicable Setting range Default Unit Reverse high mode P6.05 jogging speed -6000–0 r/min This parameter specifies the speed of fast reverse jogging, which is triggered by the reverse jogging terminal and high-low jogging speed switching terminal. Data size 16bit Data format...
Page 181 DA180 series basic AC servo drive Function codes This parameter specifies the number of pulses needed for each turret rotation. Data size 32bit Data format P6.22 Modbus address 2244, 2245 CANopen address 0x2616, 0x00 Applicable Setting range Default Unit mode P6.23 Turret start point -1)–(2...
Page 182 DA180 series basic AC servo drive Function codes Applicable Position control gain Setting range Default Unit mode P6.33 for gantry synchronization 0.0–3276.7 1000.0 This parameter specifies the position control gain for gantry synchronization. Data size 16bit Data format P6.33 Modbus address 2266, 2267 CANopen address 0x2621, 0x00...
Page 183 DA180 series basic AC servo drive Function codes Data size 16bit Data format P6.37 Modbus address 2274, 2275 CANopen address 0x2625, 0x00 Retreat distance for Applicable Setting range Default Unit gantry mode P6.38 synchronization -2)–(2 10000 reference unit alignment This parameter specifies the distance that the servo retreats after contacting the two alignment sensors.
Page 184: Ptp Control (Groups Ptp0, Ptp1, And Ptp2)
DA180 series basic AC servo drive Function codes 6.8 PTP control (groups PtP0, PtP1, and PtP2) Applicable Setting range Default Unit Control word of mode PtP0.00 segment 00 0–0x7FFFFFFF 0x00000000 General description Data bit Name Function Bit0–3 MODE PTP running mode. Bit4–7 PTP attribute.
Page 185 DA180 series basic AC servo drive Function codes Description for INS Speed √ × OVLP × OVLP × √ √ Position command 1 (Mode 0) Position command 2 (Mode 0) Speed √ × OVLP × OVLP × √ √ Position command 1 (Mode 0) Position command 2 (Mode 0) Description for OVLP Speed...
Page 186 DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP0.00 Modbus address 3200, 3201 CANopen address 0x2B00, 0x00 Defaul Applicable Position of Setting range Unit PtP0.01 mode segment 00 -1)–(2 reference unit This parameter specifies the position of segment 00. The CMD attribute determines the command mode of this PTP position.
Page 187 DA180 series basic AC servo drive Function codes 0–0x7FFFFFFF 0x00000000 Applicable Control word of Setting range Default Unit mode PtP0.24 segment 12 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP0.26 mode segment 13 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of...
Page 188 DA180 series basic AC servo drive Function codes Applicable Control word of Setting range Default Unit PtP0.50 mode segment 25 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP0.52 mode segment 26 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of mode...
Page 189 DA180 series basic AC servo drive Function codes Applicable Control word of Setting range Default Unit PtP0.76 mode segment 38 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP0.78 mode segment 39 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of mode...
Page 190 DA180 series basic AC servo drive Function codes Modbus address 3208, 3209 CANopen address 0x2B04, 0x00 Data size 32bit Data format PtP0.06 Modbus address 3212, 3213 CANopen address 0x2B06, 0x00 Data size 32bit Data format PtP0.08 Modbus address 3216, 3217 CANopen address 0x2B08, 0x00 Data size...
Page 191 DA180 series basic AC servo drive Function codes Modbus address 3288, 3289 CANopen address 0x2B2C, 0x00 Data size 32bit Data format PtP0.46 Modbus address 3292, 3293 CANopen address 0x2B2E, 0x00 Data size 32bit Data format PtP0.48 Modbus address 3296, 3297 CANopen address 0x2B30, 0x00 Data size...
Page 192 DA180 series basic AC servo drive Function codes Modbus address 3368, 3369 CANopen address 0x2B54, 0x00 Data size 32bit Data format PtP0.86 Modbus address 3372, 3373 CANopen address 0x2B56, 0x00 Data size 32bit Data format PtP0.88 Modbus address 3376, 3377 CANopen address 0x2B58, 0x00 Data size...
Page 193 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP0.19 mode segment 09 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP0.21 mode segment 10 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 194 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP0.45 mode segment 22 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP0.47 mode segment 23 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 195 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP0.71 mode segment 35 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP0.73 mode segment 36 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 196 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP0.97 mode segment 48 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP0.99 mode segment 49 -1)–(2 reference unit This group of parameter specifies the positions of segments 01 to 49. The CMD attribute determines the position command mode of a segment.
Page 197 DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP0.35 Modbus address 3270, 3271 CANopen address 0x2B23, 0x00 Data size 32bit Data format PtP0.37 Modbus address 3274, 3075 CANopen address 0x2B25, 0x00 Data size 32bit Data format PtP0.39 Modbus address 3278, 3279...
Page 198 DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP0.75 Modbus address 3350, 3351 CANopen address 0x2B4B, 0x00 Data size 32bit Data format PtP0.77 Modbus address 3354, 3355 CANopen address 0x2B4D, 0x00 Data size 32bit Data format PtP0.79 Modbus address 3358, 3359...
Page 199 DA180 series basic AC servo drive Function codes 0–0x7FFFFFFF 0x00000000 Applicable Control word of Setting range Default Unit mode PtP1.10 segment 55 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP1.12 mode segment 56 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of...
Page 200 DA180 series basic AC servo drive Function codes Applicable Control word of Setting range Default Unit PtP1.36 mode segment 68 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP1.38 mode segment 69 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of mode...
Page 201 DA180 series basic AC servo drive Function codes Applicable Control word of Setting range Default Unit PtP1.62 mode segment 81 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP1.64 mode segment 82 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of mode...
Page 202 DA180 series basic AC servo drive Function codes Applicable Control word of Setting range Default Unit PtP1.88 mode segment 94 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP1.90 mode segment 95 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of mode...
Page 203 DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP1.20 Modbus address 3440, 3441 CANopen address 0x2C14, 0x00 Data size 32bit Data format PtP1.22 Modbus address 3444, 3445 CANopen address 0x2C16, 0x00 Data size 32bit Data format PtP1.24 Modbus address 3448, 3449...
Page 204 DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP1.60 Modbus address 3520, 3521 CANopen address 0x2C3C, 0x00 Data size 32bit Data format PtP1.62 Modbus address 3524, 3525 CANopen address 0x2C3E, 0x00 Data size 32bit Data format PtP1.64 Modbus address 3528, 3529...
Page 205 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP1.01 mode segment 50 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP1.03 mode segment 51 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 206 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP1.29 mode segment 64 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP1.31 mode segment 65 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 207 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP1.57 mode segment 78 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP1.59 mode segment 79 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 208 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP1.85 mode segment 92 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP1.87 mode segment 93 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 209 DA180 series basic AC servo drive Function codes Modbus address 3430, 3431 CANopen address 0x2C0F, 0x00 Data size 32bit Data format PtP1.17 Modbus address 3434, 3435 CANopen address 0x2C11, 0x00 Data size 32bit Data format PtP1.19 Modbus address 3438, 3439 CANopen address 0x2C13, 0x00 Data size...
Page 210 DA180 series basic AC servo drive Function codes Modbus address 3510, 3511 CANopen address 0x2C37, 0x00 Data size 32bit Data format PtP1.57 Modbus address 3514, 3515 CANopen address 0x2C39, 0x00 Data size 32bit Data format PtP1.59 Modbus address 3518, 3519 CANopen address 0x2C3B, 0x00 Data size...
Page 211 DA180 series basic AC servo drive Function codes Modbus address 3590, 3591 CANopen address 0x2C5F, 0x00 Data size 32bit Data format PtP1.97 Modbus address 3594, 3595 CANopen address 0x2C61, 0x00 Data size 32bit Data format PtP1.99 Modbus address 3598, 3599 CANopen address 0x2C63, 0x00 Applicable...
Page 212 DA180 series basic AC servo drive Function codes 0–0x7FFFFFFF 0x00000000 Applicable Control word of Setting range Default Unit mode PtP2.24 segment 112 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP2.26 mode segment 113 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of...
Page 213 DA180 series basic AC servo drive Function codes Applicable Control word of Setting range Default Unit PtP2.50 mode segment 125 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of PtP2.52 mode segment 126 0–0x7FFFFFFF 0x00000000 Applicable Setting range Default Unit Control word of mode...
Page 214 DA180 series basic AC servo drive Function codes Modbus address 3656, 3657 CANopen address 0x2D1C, 0x00 Data size 32bit Data format PtP2.30 Modbus address 3660, 3661 CANopen address 0x2D1E, 0x00 Data size 32bit Data format PtP2.32 Modbus address 3664, 3665 CANopen address 0x2D20, 0x00 Data size...
Page 215 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP2.09 mode segment 104 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP2.11 mode segment 105 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 216 DA180 series basic AC servo drive Function codes Applicable Position of Setting range Default Unit PtP2.37 mode segment 118 -1)–(2 reference unit Applicable Setting range Default Unit Position of PtP2.39 mode segment 119 -1)–(2 reference unit Applicable Setting range Default Unit Position of mode...
Page 217 DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP2.09 Modbus address 3618, 3619 CANopen address 0x2D09, 0x00 Data size 32bit Data format PtP2.11 Modbus address 3622, 3623 CANopen address 0x2D0B, 0x00 Data size 32bit Data format PtP2.13 Modbus address 3626, 3627...
Page 218: Status Monitoring
DA180 series basic AC servo drive Function codes Data size 32bit Data format PtP2.49 Modbus address 3698, 3699 CANopen address 0x2D31, 0x00 Data size 32bit Data format PtP2.51 Modbus address 3702, 3703 CANopen address 0x2D33, 0x00 Data size 32bit Data format PtP2.53 Modbus address 3706, 3707...
Page 219 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R0.04 Residual pulses -1)–(2 reference unit This parameter displays the residual pulses with signs of the position deviation counter. Data size 32bit Data format R0.04 Modbus address 4012, 4013 CANopen address 0x3004, 0x00 Setting range...
Page 220 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R0.11 Drive temperature -55.0–180.0 ° C This parameter displays the current temperature of the drive IGBT module. Data size 16bit Data format R0.11 Modbus address 4026, 4027 CANopen address 0x300B, 0x00 Setting range Accuracy...
Page 221 DA180 series basic AC servo drive Function codes Data size 16bit Data format R0.16 Modbus address 4036, 4037 CANopen address 0x3010, 0x00 Setting range Accuracy Unit R0.17 Motor load ratio 0.0–500.0 This parameter displays the actual motor load ratio, which is expressed in percentage, assuming the servo motor rated power is 100%.
Page 222 DA180 series basic AC servo drive Function codes segment number plus 4096 indicates the current segment has been executed. Data size 16bit Data format R0.22 Modbus address 4048, 4049 CANopen address 0x3016, 0x00 Encoder absolute Setting range Accuracy Unit R0.23 position feedback -1)–(2 pulse...
Page 223 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit EtherCAT clock R0.27 synchronization status 0–1 This parameter displays whether the drive internal clock has been synchronized with DC Sync0 in DC mode which is used for EtherCAT communication synchronization. Setting Meaning Not synchronized...
Page 224 DA180 series basic AC servo drive Function codes This parameter displays the system status of the drive. Setting Meaning Initializing Switching on strong current Magnetic pole not determined Ready Bootstrapped charging Running Forced to stop Faulty STO-In Data size 16bit Data format R0.30 Modbus address...
Page 225 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R0.34 Enabling time 0–(2 This parameter displays the time used by the drive to enable the servo. Data size 32bit Data format R0.34 Modbus address 4072, 4073 CANopen address 0x3022, 0x00 Setting range Accuracy...
Page 226 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R0.41 Drive SN 4 0–65535 This parameter displays drive series number 4. Data size 16bit Data format R0.41 Modbus address 4086, 4087 CANopen address 0x3029, 0x00 Setting range Accuracy Unit R0.42...
Page 227 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit Speed observer R0.47 feedback -9999.9–9999.9 r/min This parameter displays the feedback speed from the speed observer. Data size 32bit Data format R0.47 Modbus address 4098, 4099 CANopen address 0x302F, 0x00 Setting range Accuracy...
Page 228 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit Gantry synchronization R0.53 position deviation -1)–(2 reference unit This parameter displays the gantry synchronization position deviation. Data size 32bit Data format R0.53 Modbus address 4110, 4111 CANopen address 0x3035, 0x00 Grating ruler (or encoder Setting range...
Page 229 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R0.58 Disk single-turn position -1)–(2 pulse This parameter displays the position in a single turn of the disk based on the setting of P5.70. Data size 32bit Data format R0.58 Modbus address 4122, 4123...
Page 230: I/O Monitoring (Group R1)
DA180 series basic AC servo drive Function codes 6.9.2 I/O monitoring (group R1) Setting range Accuracy Unit R1.00 Digital input status 0x000–0x3FF Setting range Accuracy Unit R1.01 Digital output status 0x00–0x3F Each of the parameters is a hexadecimal number, indicating the status of all digital terminals in sequence.
Page 231 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R1.05 Corrected voltage of AI 1 -10.000–10.000 0.001 This parameter displays the corrected voltage of the analog input channel 1. Data size 32bit Data format R1.05 Modbus address 4210, 4211 CANopen address 0x3105, 0x00...
Page 232: Fault Recording (Group R3)
DA180 series basic AC servo drive Function codes Setting range Accuracy Unit Pulse-corresponded R1.13 speed command -10000.0–10000.0 r/min This parameter displays the speed command corresponding to the pulse position command. Data size 32bit Data format R1.13 Modbus address 4226, 4227 CANopen address 0x310D, 0x00 Setting range...
Page 233 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R3.03 Motor speed before fault -20000–20000 r/min This parameter displays the motor speed before the currently-read fault occurred. Speed command before Setting range Accuracy Unit R3.04 fault -20000–20000 r/min This parameter displays the speed command before the fault occurred.
Page 234 DA180 series basic AC servo drive Function codes Setting range Accuracy Unit R3.20 Last fault code This parameter displays the code of the last fault. Setting range Accuracy Unit R3.21 2nd-last fault code This parameter displays the code of the second-last fault. Setting range Accuracy Unit...
Page 235: Commissioning
DA180 series basic AC servo drive Commissioning Commissioning 7.1 Instructions on identifying inertia ..................230 7.2 General methods for adjusting parameters ................ 231 7.2.1 Adjusting gains in position mode ................233 7.2.2 Adjusting gains in speed mode ................235 7.2.3 Adjusting gains in torque mode ................236 7.3 Mechanical resonance suppressing ..................
Page 236: Instructions On Identifying Inertia
DA180 series basic AC servo drive Commissioning 7.1 Instructions on identifying inertia Inertia can be identified online or offline. Identifying inertia online Before selecting online inertia identifying, you must set the parameters P1.00 [Tune inertia online] and P1.08 [Inertia identifying class]. The online identifying mode is valid when P1.00 and P1.08 are greater than 0.
Page 237: General Methods For Adjusting Parameters
DA180 series basic AC servo drive Commissioning 7.2 General methods for adjusting parameters DA180 servo drive parameters can be adjusted by two methods. Automatic adjusting You need to evaluate the load inertia ratio manually and set the servo system rigidity, which has 32 options from 0 to 31.
Page 238 DA180 series basic AC servo drive Commissioning may cause unstable responsiveness of the entire servo system. Perform adjusting in the following sequence: 1. Set the position loop gain to a small value and increase it to a value as large as possible without causing abnormal noise or vibration.
Page 239: Adjusting Gains In Position Mode
DA180 series basic AC servo drive Commissioning  Position loop gain too high In the position servo system, the position loop gain also impacts stableness. If the position loop gain is too high, the motor speed fluctuates. According to the comparison with the case of position loop gain too low, the delay with which the motor speed follows up the position command is decreased in this case.
Page 240 DA180 series basic AC servo drive Commissioning P2.70 P0.09 P2.20 P2.24 P2.71 P0.10 P2.22 P2.25 P0.22 P0.26 P0.28 P4.60 P2.10 P2.12 P2.72 P0.11 P2.23 P2.26 P0.25 P0.27 P0.29 P4.61 P2.11 P2.13 P2.73 P4.51 Frequency- Position command Electronic Speed Torque Friction Gain P4.52 division ratio of...
Page 241: Adjusting Gains In Speed Mode
DA180 series basic AC servo drive Commissioning 7.2.2 Adjusting gains in speed mode The following block diagram illustrates speed control for DA180 servo drive and lists the adjustable gain parameters in this control mode. P2.70 Speed command P2.20 P2.29 P2.71 P2.12 P2.27 P2.30...
Page 242: Adjusting Gains In Torque Mode
DA180 series basic AC servo drive Commissioning If the analog input is a speed command, you can adjust the analog input filter to smooth the speed change. 7. Adjust the speed feed-forward. If the speed tracking performance is not improved after the parameter adjusting, you can adjust P2.12 [Torque feed-forward gain] and P2.13 [Torque feed-forward filter time] to improve it.
Page 243: Mechanical Resonance Suppressing
DA180 series basic AC servo drive Commissioning Torque command P0.60 Internal P2.20 P2.33 P0.66 torque P0.61 command P2.31 P2.34 P0.62 P3.23 P0.46 Analog Torque P2.32 P0.63 P3.24 torque command P0.47 command selection P0.65 P3.25 P0.48 Gain Torque Communication switching P4.10 P4.14 P0.68 command...
Page 244: Gains Switching
DA180 series basic AC servo drive Commissioning recommended to gradually increase the depth (the parameter setting changes from large to small) until requirements are met. The relationship between the Q factor, width, and depth of a notch filter is as follows: ...
Page 245 DA180 series basic AC servo drive Commissioning Position control and fully-closed loop control Trigger Settings for position/fully-closed–loop control Delay Level Lag * time* P2.22 To switch to gain 2 Figure P2.23 P2.24 P2.25 Fixed to gain 1 Fixed to gain 2 With gain switching input Torque command too...
Page 246 DA180 series basic AC servo drive Commissioning Torque control Trigger Settings for torque control Delay time* Level Lag* P2.31 To switch to gain 2 Figure P2.32 P2.33 P2.34 Fixed to gain 1 Fixed to gain 2 With gain switching input ●...
Page 247 DA180 series basic AC servo drive Commissioning Figure 3 Figure 4 Motor speed or position command Motor speed Level Delay Residual pulse 2nd gain Level Delay 2nd gain Figure 6 Figure 5 Speed Command speed Delay 2nd gain COIN Delay 2nd gain 图7 Figure 7...
Page 248: Communication
DA180 series basic AC servo drive Communication Communication 8.1 General description ......................243 8.2 RS485 ..........................243 8.2.1 Modbus protocol description ................. 243 8.2.2 Protocol application ....................243 8.2.3 Communication frame structure ................244 8.2.4 Command codes ....................244 8.2.5 Checking for communication frame errors ............. 246 8.2.6 Responding to errors ....................
Page 249: General Description
DA180 series basic AC servo drive Communication 8.1 General description DA180 servo drive provides RS485 and CANopen interfaces to communicate with the upper computer NC or PLC. The NC or PLC can implement asynchronous serial half-duplex communication with 31 servo drivers simultaneously through the RS485 interface or with 127 servo drivers simultaneously through the CAN interface to: ...
Page 250: Communication Frame Structure
DA180 series basic AC servo drive Communication slave node but also send broadcast message to all. For a separate "query/command" from the master node, the slave node must return a response message; for a broadcast message from the master node, slave nodes do not need to respond. 8.2.3 Communication frame structure Modbus supports the RTU transmission mode only.
Page 251 DA180 series basic AC servo drive Communication CRC CHK LSB CRC CHK MSB T1-T2-T3-T4 (3.5-byte transmission time) Table 8-3 Slave-node response message START T1-T2-T3-T4 (3.5-byte transmission time) ADDR Number of bytes Content MSB of start address 03F2H Content LSB of start address 03F2H Content MSB of 2nd address 03F3H Content LSB of 2nd address 03F3H CRC CHK LSB...
Page 252: Checking For Communication Frame Errors
DA180 series basic AC servo drive Communication Table 8-5 Slave-node response message START T1-T2-T3-T4 (3.5-byte transmission time) ADDR Write MSB of data start address Write LSB of data start address MSB of data count (in word) LSB of data count (in word) CRC CHK LSB CRC CHK MSB T1-T2-T3-T4 (3.5-byte transmission time)
Page 253: Responding To Errors
DA180 series basic AC servo drive Communication MSB. Then the LSB is extracted for detection. If the LSB is 1, the register and preset value have an independent exclusive or relationship. If the LSB is not 0, there is no such a relationship. The processing is repeated eight times.
Page 254: Canopen
DA180 series basic AC servo drive Communication Modbus error codes Code Function Meaning format or LRC bit in ASCII format in the frame message sent from the upper computer is different from the checking count number on the lower device. 8.3 CANopen 8.3.1 Protocol description CANopen is a high-layer communication protocol structured over the Control Area Network (CAN).
Page 255: Supported Functions
DA180 series basic AC servo drive Communication 3. Set P4.05 [CAN node no.] on the LED panel or through ServoPlorer. P4.05 can be set to an integer ranging from 1 to 127. Note:  For all of the three parameters, you must repower the drive or perform soft reset for the parameter modification to take effect.
Page 256 DA180 series basic AC servo drive Communication Index Object type Name Data type Access Mappable 6065 Following error window UNSIGNED32 6066 Following error time out UNSIGNED16 6067 Position window UNSIGNED32 6069 Velocity sensor actual value INTEGER32 606B Velocity demand value INTEGER32 606C Velocity actual value...
Page 257 DA180 series basic AC servo drive Communication Index Object type Name Data type Access Mappable 60FE ARRAY Digital outputs UNSIGNED32 60FF Target velocity INTEGER32 Table 8-8 CANopen fault codes 32-bit fault code Display Fault name (16-bit error code + 16-bit additional information) Er01-0 IGBT fault...
Page 258 DA180 series basic AC servo drive Communication 32-bit fault code Display Fault name (16-bit error code + 16-bit additional information) Er05-3 Setting fault–Incorrect software limits FF01-0503h Er05-4 Setting fault–Incorrect homing mode FF01-0504h Er05-5 Setting fault–PTP-control travel overflow FF01-0505h Er07-0 Regeneration discharge overload fault 7100-0700h Er08-0 AI overvoltage fault–AI 1...
Page 259 DA180 series basic AC servo drive Communication 32-bit fault code Display Fault name (16-bit error code + 16-bit additional information) Er22-2 Position increment overflow FF01-1602h CANopen fault–Synchronization signal Er22-3 FF01-1603h timeout CANopen fault–Full position command Er22-4 FF01-1604h buffer Er23-0 Drive overtemperature 4210-1700h Application fault–Encoder offset angle test Er25-4...
Page 260: Upper Computer Software
DA180 series basic AC servo drive Communication 8.4 Upper computer software 8.4.1 ServoPlorer ServoPlorer is the upper computer software for monitoring and commissioning DA180 servo driver. It can:  Monitor drive status parameters in real time.  Modify drive parameters online. ...
Page 261: Installing And Running
Communication 8.4.5 Installing and running To download INVT ServoPlorer V4.0, visit www.invt.com, choose Service and Support > Data Download, and enter keywords for search. During the installing, the installer automatically checks whether plug-ins need to be installed on your computer and displays messages. Before using ServoPlorer, ensure the software and hardware configuration on your computer meets the requirements in 8.4.2 "Hardware"...
Page 262: Program Interface
DA180 series basic AC servo drive Communication 8.4.6 Program interface The program interface consists of:  Menu bar and toolbar, entries to sub-interfaces and functions  Status monitoring area on the left, which displays the real-time feedback of status parameters ...
Page 263: Using The Oscilloscope
DA180 series basic AC servo drive Communication 8.4.9 Using the oscilloscope You can enable the oscilloscope by clicking the oscilloscope button on the toolbar or choosing Tool > Oscilloscope from the menu bar. Oscilloscope interface The oscilloscope interface consists of: ...
Page 264: Fault Handling
DA180 series basic AC servo drive Fault handling Fault handling 9.1 Servo drive faults and workarounds .................. 259 9.2 CANopen communication faults and workarounds ............. 269 -258-...
Page 265: Servo Drive Faults And Workarounds
DA180 series basic AC servo drive Fault handling 9.1 Servo drive faults and workarounds Code Name Possible cause Workaround drive actual output current exceeds specified value. 1. Drive fault (such as drive circuit or IGBT fault). 1. Remove the motor cables and 2.
Page 266 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround phases. Improper parameter settings cause system divergence. 6. The ACC/DEC time in the start or stop process is too short. 7. Instantaneous load is too heavy. Encoder fault–Encoder encoder Er02-0 1.
Page 267 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround battery voltage 2. Use the multimeter to check encoder is between 2.5V– whether external battery 3.0V. voltage is less than 3.0V. If yes, replace the battery. 3. Replace the battery when the drive power is on.
Page 268 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround fault motor shaft repeatedly, replace the drive. powered on in non-static Current sensor fault– state. Er03-1 Phase-V current sensor fault Current sensor fault– Er03-2 Phase-W current sensor fault There are failed self-check 1.
Page 269 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround The voltage input to the port proper. Er08-1 AI overvoltage fault–AI 2 of analog input 2 exceeds 3. Set P3.22, P3.25, and P3.75 to the setting of P3.25. 0 to disable protection.
Page 270 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround causes drive serial 2. Route communication cables communication alarm. and motor cables separately. Hardware fault–AC power One of the phases R, S, and 1. Ensure power wiring is proper. Er10-6 phase loss T is lost.
Page 271 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround 2. There is damage to the internal pulse frequency detection circuit of the drive. The DC voltage of the drive main circuit is higher than 1. Ensure the grid input voltage is the specified voltage.
Page 272 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround 1. Reduce the load. 2. Ensure there is no phase dislocation or phase loss to the The short-time load on the Er17-1 Drive overload 2 UVW wiring of the motor and the drive is too heavy.
Page 273 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround the power cable is correct. 3. Check the setting of P4.35 [Enabling motor runaway detection]. In non-torque mode, the deviation between the motor 1. Ensure the motor cable phases speed and speed command are in correct sequence and exceeds the setting of P4.39.
Page 274 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround stalling. position loop speed 3. Pulse input frequency is feed-forward gain parameters. high, exceeding Alternatively, increase the setting maximum motor speed. of P4.33. 4. The step variable in the 3.
Page 275: Canopen Communication Faults And Workarounds
DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround 2. The actual ACC time for 3. Increase the setting of P1.06. inertia identifying is too short. 3. The inertia identifying speed lower than 150r/min. 1. The power cable phase 1.
Page 276 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround dictionary or is not supported by the servo drive. When the SDO reads or writes parameters, the index Check the index and sub-index on exists in the object dictionary, SDO sub-index not the master node and on the servo Er26-2...
Page 277 DA180 series basic AC servo drive Fault handling Code Name Possible cause Workaround by the baud rate. CAN communication is offline 1. Check communication connection. Er26-b Receiving fault or the error receiving counter 2. Restart the servo drive. exceeds 128. CAN communication is offline 1.
Page 278: Appendix
DA180 series basic AC servo drive Appendix Appendix 10.1 Parameters about settings ....................273 10.2 Parameters about monitoring ..................299 10.3 Common monitoring parameters ..................303 10.4 Fault codes ........................304 10.5 Parameter setting history ....................309 -272-...
Page 279: Parameters About Settings
DA180 series basic AC servo drive Appendix 10.1 Parameters about settings Note: In the Applicable mode column, P indicates position mode, S indicates speed mode, and T indicates torque mode. For function codes:  Marked with the superscript "1", the parameter settings take effect only after the drive is restarted or repowered on.
Page 280 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Parameter modification P0.16 0–1 lock Mode for writing to P0.17 0–1 EEPROM P0.18* Factory password 0–65535 Main circuit power input P0.19 0–1 type P0.20 Position command source 0–4 Pulses per motor...
Page 281 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P0.43 Reverse of AI 1 0–1 P0.45 Dead zone of AI 1 0.000–3.000 0.000 Internal speed 1/speed P0.46 r/min -20000–20000 limit 1 Internal speed 2/speed P0.47 r/min -20000–20000...
Page 282 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Max. speed limit of control P0.90 r/min 0–1000 mode switching Positioning reference of P0.91 reference unit -1–(2 control mode switching Position mode exiting P0.92 0–1 method P1 Autotuning control...
Page 283 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P1.33 Q factor of notch filter 4 0.50–16.00 1.00 P1.34 Depth of notch filter 4 0–100 Vibration control mode in P1.35 0–2 position command Vibration control frequency P1.36 0.0–200.0...
Page 284 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Switching delay in position P2.23 0–10000 control Switching level in position P2.24 0–20000 control Switching lag in position P2.25 0–20000 control Position gain switching P2.26 0–10000 time...
Page 285 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode suppressor compensation gain Medium frequency P2.53 0–1 vibration control switch P2.54 Vibration control frequency 1–2000 P2.55 Inertia adjustment 1–1000 P2.56 Attenuation gain 0–1000 P2.57 Adjustment on filter time 1 0.01ms -10–10...
Page 286 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P3.20 Offset of AI 1 -10.000–10.000 0.000 P3.21 Filter of AI 1 0.0–1000.0 OV protection threshold of P3.22 0.000–10.000 0.000 AI 1 P3.23 Offset of AI 2 -10.000–10.000 0.000 P3.24...
Page 287 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P3.55 Zero speed range r/min 10–20000 Servo lock time after P3.56 0–1000 braking Electromagnetic brake P3.57 0–30000 closing delay Motor speed threshold at P3.58 r/min 0–1000 brake release...
Page 288 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Zero speed clamp P4.19* 0–1 command P4.20* Clearing residual pulses 0–1 Torque limit switching P4.21* 0–1 command External fault reporting P4.22* 0–1 command P4.23* Emergency stop command 0–1 Vibration control switching...
Page 289 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Frequency-division P4.60 numerator of external 1–(2 10000 grating ruler Frequency-division P4.61 denominator of external 1–(2 10000 grating ruler Reverse external grating P4.62 0–1 ruler count Hybrid control deviation P4.64 reference unit...
Page 290 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P4.96* Reserved P4.97* Write to encoder EEPROM 0–1 Mask encoder EEPROM P4.98* 0–1 data faults P5 Jogging, homing, and PTP control P5.00 Jogging mode 0–6 P5.01 Jogging increment...
Page 291 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P5.30 Target speed 09 r/min 0–6000 1300 P5.31 Target speed 10 r/min 0–6000 1500 P5.32 Target speed 11 r/min 0–6000 1800 P5.33 Target speed 12 r/min 0–6000 2000...
Page 292 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode P5.65 Delay time 12 0–32767 4000 P5.66 Delay time 13 0–32767 4500 P5.67 Delay time 14 0–32767 5000 P5.68 Delay time 15 0–32767 5500 P5.69 PTP control buffer switch 0–1...
Page 293 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode gantry synchronization Torque filter for gantry P6.34 synchronization 0.00–64.00 0.00 compensation Speed filter for gantry P6.35 synchronization 0.00–64.00 0.00 compensation Bandwidth ratio for gantry P6.36 0–1000 synchronization control...
Page 294 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP0.10 0–0x7FFFFFFF 0x00000000 PtP0.11 Position of segment 05 reference unit -1)–(2 Control word of segment PtP0.12 0–0x7FFFFFFF 0x00000000 PtP0.13 Position of segment 06 reference unit -1)–(2 Control word of segment...
Page 295 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP0.34 0–0x7FFFFFFF 0x00000000 PtP0.35 Position of segment 17 reference unit -1)–(2 Control word of segment PtP0.36 0–0x7FFFFFFF 0x00000000 PtP0.37 Position of segment 18 reference unit -1)–(2 Control word of segment...
Page 296 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP0.58 0–0x7FFFFFFF 0x00000000 PtP0.59 Position of segment 29 reference unit -1)–(2 Control word of segment PtP0.60 0–0x7FFFFFFF 0x00000000 PtP0.61 Position of segment 30 reference unit -1)–(2 Control word of segment...
Page 297 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP0.82 0–0x7FFFFFFF 0x00000000 PtP0.83 Position of segment 41 reference unit -1)–(2 Control word of segment PtP0.84 0–0x7FFFFFFF 0x00000000 PtP0.85 Position of segment 42 reference unit -1)–(2 Control word of segment...
Page 298 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode PtP1.05 Position of segment 52 reference unit -1)–(2 Control word of segment PtP1.06 0–0x7FFFFFFF 0x00000000 PtP1.07 Position of segment 53 reference unit -1)–(2 Control word of segment PtP1.08 0–0x7FFFFFFF 0x00000000...
Page 299 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode PtP1.29 Position of segment 64 reference unit -1)–(2 Control word of segment PtP1.30 0–0x7FFFFFFF 0x00000000 PtP1.31 Position of segment 65 reference unit -1)–(2 Control word of segment PtP1.32 0–0x7FFFFFFF 0x00000000...
Page 300 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode PtP1.53 Position of segment 76 reference unit -1)–(2 Control word of segment PtP1.54 0–0x7FFFFFFF 0x00000000 PtP1.55 Position of segment 77 reference unit -1)–(2 Control word of segment PtP1.56 0–0x7FFFFFFF 0x00000000...
Page 301 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode PtP1.77 Position of segment 88 reference unit -1)–(2 Control word of segment PtP1.78 0–0x7FFFFFFF 0x00000000 PtP1.79 Position of segment 89 reference unit -1)–(2 Control word of segment PtP1.80 0–0x7FFFFFFF 0x00000000...
Page 302 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP2.00 0–0x7FFFFFFF 0x00000000 PtP2.01 Position of segment 100 reference unit -1)–(2 Control word of segment PtP2.02 0–0x7FFFFFFF 0x00000000 PtP2.03 Position of segment 101 reference unit -1)–(2 Control word of segment...
Page 303 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP2.24 0–0x7FFFFFFF 0x00000000 PtP2.25 Position of segment 112 reference unit -1)–(2 Control word of segment PtP2.26 0–0x7FFFFFFF 0x00000000 PtP2.27 Position of segment 113 reference unit -1)–(2 Control word of segment...
Page 304 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range Default code mode Control word of segment PtP2.48 0–0x7FFFFFFF 0x00000000 PtP2.49 Position of segment 124 reference unit -1)–(2 Control word of segment PtP2.50 -1)–(2 0x00000000 PtP2.51 Position of segment 125 reference unit -1)–(2 Control word of segment...
Page 305: Parameters About Monitoring
DA180 series basic AC servo drive Appendix 10.2 Parameters about monitoring The following table lists the parameters for monitoring servo drive status. Function Applicable Parameter Unit Setting range code mode R0 System monitoring R0.00 Motor speed r/min -9999.9–9999.9 R0.01 Speed command r/min -9999.9–9999.9 R0.02...
Page 306 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range code mode R0.30 System status 0–6 R0.31 IGBT status 0–1 R0.32 Current mode 0–2 R0.33 Power-on time 0–(2 R0.34 Enabling time 0–(2 R0.35 DSP version no. 0.00–10.00 R0.36 FPGA version no.
Page 307 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range code mode R0.99 Fault code -32768–32767 R1 I/O monitoring R1.00 Digital input status 0x000–0x3FF R1.01 Digital output status 0x00–0x3F R1.02 Raw voltage of AI 1 -10.000–10.000 R1.03 Raw voltage of AI 2 -10.000–10.000 R1.05...
Page 308 DA180 series basic AC servo drive Appendix Function Applicable Parameter Unit Setting range code mode R3.24 5th-last fault code R3.25 6th-last fault code R3.26 7th-last fault code R3.27 8th-last fault code R3.28 9th-last fault code R3.29 10th-last fault code -302-...
Page 309: Common Monitoring Parameters
DA180 series basic AC servo drive Appendix 10.3 Common monitoring parameters Corresponding P0.15 Meaning Display Unit Motor speed r/min R0.00 Speed command r/min R0.01 Accumulated feedback R0.02 reference unit pulses Accumulated command R0.03 reference unit pulses Residual pulses reference unit R0.04 Hybrid control deviation reference unit...
Page 310: Fault Codes
DA180 series basic AC servo drive Appendix 10.4 Fault codes A fault code is displayed in the format of ErXX-X, in which XX indicates the main code and X indicates the sub code. For example, in 01 indicates the main code and 0 indicates the sub code. Attribute Fault code Fault name...
Page 311 DA180 series basic AC servo drive Appendix Attribute Fault code Fault name Enabling History Clearable inhibited sensor fault Current sensor fault–Phase-V current ● ● Er03-1 sensor fault Current sensor fault–Phase-W current ● ● Er03-2 sensor fault ● Er04-0 System initialization fault ●...
Page 312 DA180 series basic AC servo drive Appendix Attribute Fault code Fault name Enabling History Clearable inhibited Hardware fault–Regenerative transistor ● ● ● Er10-8 fault ● ● ● Er10-9 Hardware fault–STO phase loss ● ● ● Er10-a Hardware fault–STO DPIN1 fault ●...
Page 313 DA180 series basic AC servo drive Appendix Attribute Fault code Fault name Enabling History Clearable inhibited CANopen–Full position command ● ● ● Er22-4 buffer ● ● ● Er23-0 Drive overtemperature ● ● Er24-8 EtherCAT fault–Initialization fault ● ● EtherCAT fault–EEPROM fault Er24-9 EtherCAT fault–DC Sync0 signal ●...
Page 314 DA180 series basic AC servo drive Appendix Attribute Fault code Fault name Enabling History Clearable inhibited exist CANopen fault–PDO modification not ● Er26-8 allowed in operational state CANopen fault–PDO mapping not ● Er26-9 allowed CANopen fault–Synchronization signal ● Er26-a too fast ●...
Page 315: Parameter Setting History
10.5 Parameter setting history Drive Drive Drive Changed Changed Parameter Default Remarks...
Page 316 Service line: 400-700-9997 Website: www.invt.com 6 6 0 0 1 - 0 0 6 4 0 201910 (V1.0)

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Da180-s1r3sg0 Da 180 series Da180-s1r8sg0 Da180-s5r0sg0 Da180-s4r5sg0

INVT DA180-S2R8SG0 Operation Manual

Table of Contents

Preface

Safety Precautions

1 Overview

2 Installation Instructions

3 Wiring Instructions

4 Control Modes

5 Operating and Running

Function Codes

7 Commissioning

8 Communication

9 Fault Handling

10 Appendix

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