INVT DA180-S2R8SG0 Operation Manual page 219

DA180 series basic AC servo drive
R0.04
This parameter displays the residual pulses with signs of the position deviation counter.
Data size
R0.04
Modbus address
R0.05 Hybrid control deviation
This parameter displays the tolerance with a sign between the encoder feedback position and
grating ruler feedback position when the fully-closed loop function is enabled.
Data size
R0.05
Modbus address
R0.06
This parameter displays the current torque, which is expressed in percentage, assuming the servo
motor rated torque is 100.0%.
Data size
R0.06
Modbus address
R0.07 Main circuit DC voltage
This parameter displays the DC bus voltage of the main circuit power.
Data size
R0.07
Modbus address
R0.09
This parameter displays the current output line voltage.
Data size
R0.09
Modbus address
R0.10
This parameter displays the current output line current.
Data size
R0.10
Modbus address
Residual pulses
32bit
4012, 4013
32bit
4014, 4015
Current torque
16bit
4016, 4017
16bit
4018, 4019
Output voltage
16bit
4022, 4023
Output current
32bit
4024, 4025
Setting range
31 31
-(2 -1)–(2 -1)
Data format
CANopen address
Setting range
31 31
-(2 -1)–(2 -1)
Data format
CANopen address
Setting range
-500.0–500.0
Data format
CANopen address
Setting range
0.0–1000.0
Data format
CANopen address
Setting range
0.0–1000.0
Data format
CANopen address
Setting range
0.00–1000.00
Data format
CANopen address
-213-
Function codes
Accuracy Unit
1 reference unit
DEC
0x3004, 0x00
Accuracy Unit
1 reference unit
DEC
0x3005, 0x00
Accuracy Unit
0.1
DEC
0x3006, 0x00
Accuracy Unit
0.1
DEC
0x3007, 0x00
Accuracy Unit
0.1 Vrms
DEC
0x3009, 0x00
Accuracy Unit
0.01 Arms
DEC
0x300A, 0x00
%
V