INVT DA180-S2R8SG0 Operation Manual page 227

DA180 series basic AC servo drive
R0.47
This parameter displays the feedback speed from the speed observer.
Data size
R0.47
Modbus address
Torque from disturbance
R0.48
This parameter displays the compensation torque from the disturbance observer.
Data size
R0.48
Modbus address
R0.49 vibration suppressor
This parameter displays the compensation from the fully-closed loop vibration suppressor.
Data size
R0.49
Modbus address
Real-time load inertia
R0.51
This parameter displays the load inertia ratio observed in real time.
Data size
R0.51
Modbus address
Accumulated grating
R0.52
This parameter accumulates and displays the 32-bit absolute position feedback from the grating
ruler (or second encoder). It can be read quickly. If the feedback exceeds 32 bits, it is replaced by
R0.57.
Data size
R0.52
Modbus address
Speed observer
feedback
4098, 4099
observer
4100, 4101
Fully-closed loop
compensation
4102, 4103
ratio
4106, 4107
ruler (or encoder 2)
position feedback
(32-bit)
4108, 4109
Setting range
-9999.9–9999.9
32bit Data format
CANopen address
Setting range
-1000.0–1000.0
32bit Data format
CANopen address
Setting range
-9999.9–9999.9
32bit Data format
CANopen address
Setting range
0–10000
16bit Data format
CANopen address
Setting range
31 31
-(2 -1)–(2 -1)
32bit Data format
CANopen address
-221-
Function codes
Accuracy Unit
0.1 r/min
DEC
0x302F, 0x00
Accuracy Unit
0.1
DEC
0x3030, 0x00
Accuracy Unit
0.1 r/min
DEC
0x3031, 0x00
Accuracy Unit
1
DEC
0x3033, 0x00
Accuracy Unit
1 pulse
DEC
0x3034, 0x00
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