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Wiki source code of 08 Communication

Last modified by Mora Zhou on 2023/12/21 15:52
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1 The servo drive supports Modbus communication. Users could modify or view parameters and monitor servo drive status on the host controller configured with the debug tool.
2
3 = **Modbus communication** =
4
5 == **Hardware connection** ==
6
7 The servo drive has a set of RS485 interface to support modbus communication. CN4 on the front panel is the communication interface. The signal description is shown in **the figure:**
8
9 (% style="text-align:center" %)
10 [[image:8.Communication_html_60a881ea1b6f6b2f.png||height="413" width="600" class="img-thumbnail"]]
11
12 Figure 8-1 RS485 connection diagram
13
14 The servo drive adopts half-duplex communication method of RS485. The 485 bus must adopt a hand-in-hand structure rather than a star structure or a bifurcated structure. The star structure or the bifurcated structure would generate a reflected signal, which affects the 485 communication.
15
16 The wiring must be shielded twisted pair, and stay away from strong electricity and not parallel with the power cord, nor tied together.
17
18 It should be noted that in a half-duplex connection, only one servo drive could communicate with the host controller at a time. If two or more servo drives upload data at the same time, bus contention would occur. Not only would it cause communication failure, but it may also cause some components to generate large currents, causing component damage.
19
20 (% style="text-align:center" %)
21 [[image:8.Communication_html_93099e61c82f0599.jpg||height="370" width="600" class="img-thumbnail"]]
22
23 Figure 8-2 RS485 communication network wiring diagram
24
25 The terminal of RS485 network should use 120Ω terminal resistance to weaken the signal reflection. Termination resistors couldnot be used in the middle of network.
26
27 No point in the RS485 network could be directly grounded. All equipment in the network must be well grounded through its own ground terminal. It should be noted that the ground wire couldnot form a closed loop under any circumstances.
28
29 When wiring, consider the drive capability of the computer / PLC and the distance between the computer / PLC and the servo drive. If the driving capacity is insufficient, a repeater needs to be added.
30
31 = **Modbus communication protocol** =
32
33 == **Modbus data frame format** ==
34
35 The servo currently supports the RTU communication format. The typical data frame format is** as follows:**
36
37 == **Function code** ==
38
39 The host controller reads/writes servo through the Modbus RTU format (03, 06 function code). The corresponding modbus function code is explained **as follows:**
40
41 (% class="table-bordered" %)
42 |=(% style="width: 708px;" %)(((
43 **Activity**
44 )))|=(% style="width: 368px;" %)(((
45 **CommandCode**
46 )))
47 |(% style="width:708px" %)(((
48 Read 16-bit function code
49 )))|(% style="width:368px" %)(((
50 0x03
51 )))
52 |(% style="width:708px" %)(((
53 Write16-bit function code
54 )))|(% style="width:368px" %)(((
55 0x06
56 )))
57
58 **Read function code: **0x03
59
60 (% class="table-bordered" %)
61 |=(((
62 **address**
63 )))|=(((
64 **Function code**
65 )))|=(((
66 **starting address**
67
68 **(high byte)**
69 )))|=(((
70 **starting address**
71
72 **(low byte)**
73 )))|=(((
74 **Read number**
75
76 **(high byte)**
77 )))|=(((
78 **Read number**
79
80 **(low byte)**
81 )))|=(((
82 **CRC checksum **
83 )))
84 |(((
85 1 byte
86 )))|(((
87 03
88 )))|(((
89 1 byte
90 )))|(((
91 1 byte
92 )))|(((
93 1 byte
94 )))|(((
95 1 byte
96 )))|(((
97 2 bytes
98 )))
99
100 **Request format:**
101
102 **Correct response format:**
103
104 (% class="table-bordered" %)
105 |=(((
106 **address**
107 )))|=(((
108 **Function code**
109 )))|=(((
110 **return data Byte number**
111 )))|=(((
112 **Register 1 High byte**
113 )))|=(((
114 **Register 1 low byte**
115 )))|=(((
116 …
117 )))|=(((
118 **CRC checksum**
119 )))
120 |(((
121 1 byte
122 )))|(((
123 03
124 )))|(((
125 1 byte
126 )))|(((
127 1 byte
128 )))|(((
129 1 byte
130 )))|(((
131 1 byte
132 )))|(((
133 2 bytes
134 )))
135
136 **Write function code**: 0x06
137
138 (% class="table-bordered" %)
139 |=(((
140 **address**
141 )))|=(((
142 **Function code**
143 )))|=(((
144 **Register address**
145
146 **(high byte)**
147 )))|=(((
148 **Register address**
149
150 **(low byte)**
151 )))|=(((
152 **Data high byte**
153 )))|=(((
154 **Data low byte**
155 )))|=(((
156 **CRC checksum**
157 )))
158 |(((
159 1 byte
160 )))|(((
161 06
162 )))|(((
163 1 byte
164 )))|(((
165 1 byt
166 )))|(((
167 1 byte
168 )))|(((
169 1 byte
170 )))|(((
171 2 bytes
172 )))
173
174 (% class="table-bordered" %)
175 |=(((
176 **address**
177 )))|=(((
178 **Function code**
179 )))|=(((
180 **Register address**
181
182 **(high byte)**
183 )))|=(((
184 **Register address**
185
186 **(low byte)**
187 )))|=(% style="width: 126px;" %)(((
188 **Data high byte**
189 )))|=(% style="width: 149px;" %)(((
190 **Data low byte**
191 )))|=(((
192 **CRC checksum**
193 )))
194 |(((
195 1 byte
196 )))|(((
197 06
198 )))|(((
199 1 byte
200 )))|(((
201 1 byte
202 )))|(% style="width:126px" %)(((
203 1 byte
204 )))|(% style="width:149px" %)(((
205 1 byte
206 )))|(((
207 2 bytes
208 )))
209
210 (% class="table-bordered" %)
211 |=(((
212 **address**
213 )))|=(((
214 **function**
215 )))|=(((
216 **Error code**
217 )))|=(((
218 **CRC checksum**
219 )))
220 |(((
221 1 byte
222 )))|(((
223 Command code+0x80
224 )))|(((
225 Error code
226 )))|(((
227 2 bytes
228 )))
229
230 (% class="table-bordered" %)
231 |=(((
232 **Error code**
233 )))|=(((
234 **Code description**
235 )))
236 |(((
237 0x0001
238 )))|(((
239 illegal command code
240 )))
241 |(((
242 0x0002
243 )))|(((
244 Illegal data address
245 )))
246 |(((
247 0x0003
248 )))|(((
249 Illegal data
250 )))
251 |(((
252 0x0004
253 )))|(((
254 Slave device fault
255 )))
256
257 (% class="table-bordered" %)
258 |=(((
259 **address**
260 )))|=(((
261 **Function code**
262 )))|=(((
263 **Starting address high byte**
264 )))|=(((
265 **Starting address  low byte**
266 )))|=(((
267 **Read number**
268
269 **(high byte)**
270 )))|=(((
271 **Read number**
272
273 **(low byte)**
274 )))|=(((
275 **CRC low byte**
276 )))|=(((
277 **CRC high byte**
278 )))
279 |(((
280 01
281 )))|(((
282 03
283 )))|(((
284 1E
285 )))|(((
286 1F
287 )))|(((
288 00
289 )))|(((
290 01
291 )))|(((
292 B3
293 )))|(((
294 E4
295 )))
296
297 (% class="table-bordered" %)
298 |=(% style="width: 102px;" %)(((
299 **address**
300 )))|=(% style="width: 159px;" %)(((
301 **Function code**
302 )))|=(% style="width: 281px;" %)(((
303 **Byte number**
304 )))|=(% style="width: 274px;" %)(((
305 **data high byte**
306 )))|=(% style="width: 152px;" %)(((
307 **data low byte**
308 )))|=(% style="width: 245px;" %)(((
309 **CRC low byte**
310 )))|=(((
311 **CRC high byte**
312 )))
313 |(% style="width:102px" %)(((
314 01
315 )))|(% style="width:159px" %)(((
316 03
317 )))|(% style="width:281px" %)(((
318 02
319 )))|(% style="width:274px" %)(((
320 0C
321 )))|(% style="width:152px" %)(((
322 26
323 )))|(% style="width:245px" %)(((
324 3C
325 )))|(((
326 9E
327 )))
328
329 (% class="table-bordered" %)
330 |=(((
331 **address**
332 )))|=(((
333 **Function code**
334 )))|=(((
335 **Register address (high byte)**
336 )))|=(((
337 **Register address (low byte)**
338 )))|=(((
339 **Data high byte**
340 )))|=(((
341 **Data low byte**
342 )))|=(((
343 **CRC low byte**
344 )))|=(((
345 **CRC high byte**
346 )))
347 |(((
348 01
349 )))|(((
350 06
351 )))|(((
352 01
353 )))|(((
354 0A
355 )))|(((
356 0B
357 )))|(((
358 B8
359 )))|(((
360 AF
361 )))|(((
362 76
363 )))
364
365 (% class="table-bordered" %)
366 |=(((
367 **address**
368 )))|=(((
369 **Function code**
370 )))|=(((
371 **Register address (high byte)**
372 )))|=(((
373 **Register address (low byte)**
374 )))|=(((
375 **Data high byte**
376 )))|=(((
377 **Data low byte**
378 )))|=(((
379 **CRC low byte**
380 )))|=(((
381 **CRC high byte**
382 )))
383 |(((
384 01
385 )))|(((
386 06
387 )))|(((
388 01
389 )))|(((
390 0A
391 )))|(((
392 0B
393 )))|(((
394 B8
395 )))|(((
396 AF
397 )))|(((
398 76
399 )))
400
401 **Request format:**
402
403 (% class="table-bordered" %)
404 |=**address**|=**Function code**|=(((
405 **Register address**
406
407 **(high byte)**
408 )))|=(((
409 **~ Register address**
410
411 **(low byte)**
412 )))|=(((
413 **Data high byte**
414 )))|=(((
415 **Data low byte**
416 )))|=**CRC checksum**
417 |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
418
419 **Response format:**
420
421 (% class="table-bordered" %)
422 |=**address**|=**Function code**|=(((
423 **Register address**
424
425 **(high byte)**
426 )))|=(((
427 **~ Register address**
428
429 **(low byte)**
430 )))|=**Data high byte**|=(((
431 **Data low byte**
432 )))|=**CRC checksum**
433 |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
434
435 If the setting is successful, the original text is returned
436
437 == **CRC Checksum** ==
438
439 The servo adopts 16-bit CRC checksum, the host controller should use the same check rule, otherwise the CRC check would fail. The servo drive uses 16-bit CRC with low byte before high byte.
440
441 **The CRC function is as follows:**
442
443 {{code language="C"}}
444 Uint16 CRC16_Calc(Uint8 *pBuf, Uint16 uLen)
445 {
446 Uint16 crc = 0xffff.
447 Uint16 i.
448
449 while(uLen--)
450 {
451 crc ^=(Uint16) *pBuf++.
452 for(i=0. i<8. i++)
453 {
454 if(crc & 0x0001)
455 {
456 crc = (crc >> 1) ^ 0xa001.
457 }
458 else
459 {
460 crc = crc >> 1.
461 }
462
463 }
464 }
465
466 return crc.
467 }
468
469 {{/code}}
470
471 == **Error response frame** ==
472
473 When an error occurs, set the function code bit7 issued by the host controller to 1, and return (such as 0x03 returns 0x83, 0x06 returns 0x86). the error code is described **as follows:**
474
475 (% class="table-bordered" %)
476 |=**address**|=**function**|=**Error code**|=**CRC checksum**
477 |1 byte|Command code+0x80|Error code|2 bytes
478
479 == **Communication Example** ==
480
481 (((
482 [03 function code]
483 )))
484
485 Read the value of [U0-31] (bus voltage), the address of the modbus register corresponding to variable 7711 (0x1E1F)
486
487 **Request format:**
488
489 (% class="table-bordered" %)
490 |=**Error code**|=**Code description**
491 |0x0001|illegal command code
492 |0x0002|Illegal data address
493 |0x0003|Illegal data
494 |0x0004|Slave device fault
495
496 **The slave response:**
497
498 The read value is 0x0C26, representing a voltage of 311.0V.
499
500 [06 function code]
501
502 [P1-10]The maximum speed threshold is set to 3000 rpm. This variable corresponds to the modbus address is 266 (0x010A)
503
504 **Request format:**
505
506 (% class="table-bordered" %)
507 |=**address**|=**Function code**|=**Starting address high byte**|=**Starting address  low byte**|=(((
508 **Read number**
509
510 **(high byte)**
511 )))|=(((
512 **~ Read number**
513
514 **(low byte)**
515 )))|=**CRC    low byte**|=** CRC high byte**
516 |01|03|1E|1F|00|01|B3|E4
517
518 **The slave response:**
519
520 (% class="table-bordered" %)
521 |=**address**|=**Function code**|=**Byte number**|=**data       high byte**|=**data low byte**|=** CRC    low byte**|=** CRC high byte**
522 |01|03|02|0C|26|3C| 9E
523
524 = **Servo communication parameter setting** =
525
526 (% style="text-align:center" %)
527 [[image:8.Communication_html_9841e9a0a6216d7c.jpg||height="629" width="200" class="img-thumbnail"]]
528
529 Figure 8-3 Modbus communication parameter setting process
530
531 Set the station number of servo[P12-1]
532
533 When multiple servos are used together, each servo could only have a unique address, otherwise it would cause communication exception.
534
535 **0: **Broadcast address
536
537 **1~~247: **slave address
538
539 Set the serial port baud rate[P12-2]
540
541 The baud rate set in the servo drive must be the same as that in the host controller. Otherwise,communication would fail.
542
543 Modbus data format[P12-3]
544
545 **data check format:**
546
547 * odd
548 * even
549 * none
550
551 **stop bit: **1 stop bit and 2 stop bits
552
553 The data format set in the servo drive must be the same as that in the host controller. Otherwise,communication would fail.
554
555 Set whether to store Modbus parameter modification to EEPROM [P12-4]
556
557 (% class="table-bordered" %)
558 |=(% style="width: 82px;" %)(((
559 **Code**
560 )))|=(% style="width: 136px;" %)(((
561 **name**
562 )))|=(((
563 **property**
564 )))|=(((
565 **Effective time**
566 )))|=(((
567 **range**
568 )))|=(((
569 **Defination**
570 )))|=(((
571 **unit**
572 )))|=(((
573 **Default setting**
574 )))
575 |(% style="width:82px" %)(((
576 P12-1
577 )))|(% style="width:136px" %)(((
578 Servo station No.
579 )))|(((
580 During running
581 )))|(((
582 Immediate
583 )))|(((
584 0~~247
585 )))|(((
586 Set the station address of the servo drive.
587 )))|(((
588 -
589 )))|(((
590 1
591 )))
592 |(% style="width:82px" %)(((
593 P12-2
594 )))|(% style="width:136px" %)(((
595 Baud rate
596 )))|(((
597 During running
598 )))|(((
599 Immediate
600 )))|(((
601 0~~5
602 )))|(((
603 0-2400 bps.
604
605 1-4800 bps.
606
607 2-9600 bps.
608
609 3-19200 bps.
610
611 4-38400 bps.
612
613 5-57600 bps
614 )))|(((
615 -
616 )))|(((
617 2
618 )))
619 |(% style="width:82px" %)(((
620 P12-3
621 )))|(% style="width:136px" %)(((
622 Modbus data
623
624 format
625 )))|(((
626 During running
627 )))|(((
628 Immediate
629 )))|(((
630 0~~3
631 )))|(((
632 0: 1 stop bit，none
633
634 1: 1 stop bit，odd
635
636 2: 1 stop bit，even
637
638 3: 2 stop bits，none
639 )))|(((
640 -
641 )))|(((
642 0
643 )))
644 |(% style="width:82px" %)(((
645 P12-4
646 )))|(% style="width:136px" %)(((
647 Update function
648
649 code values
650
651 written via
652
653 communication
654
655 to EEPROM
656 )))|(((
657 During running
658 )))|(((
659 Immediate
660 )))|(((
661 0~~1
662 )))|(((
663 0-not write to EEPROM，volatile.
664
665 1-write to EEPROM，non-volatile
666 )))|(((
667 -
668 )))|(((
669 0
670 )))
671
672 When the host changes the servo function code through communication, it could choose to store it in EEPROM in real time, which has the function of saving after power-off.
673
674 If the value of the function code only needs to be changed once, and the value would be used afterwards, then we should enable “write into the EEPROM” function.
675
676 If you need to frequently change the value of the function code, it is recommended to disable this function, otherwise the EEPROM life would be reduced due to frequent erasure of the EEPROM.
677
678 After the EEPROM is damaged, the servo would have a non-resettable fault!
679
680 **Relevant function code:**
681
682 (% class="table-bordered" %)
683 |=(% style="width: 81px;" %)**Code**|=(% style="width: 137px;" %)**name**|=**property**|=**Effective time**|=**range**|=**Defination**|=**unit**|=**Default setting**
684 |(% style="width:81px" %)P12-1|(% style="width:137px" %)Servo station No.|During running|Immediate|0~~247|Set the station address of the servo drive.|-|1
685 |(% style="width:81px" %)P12-2|(% style="width:137px" %)Baud rate|During running|Immediate|0~~5|0-2400 bps.
686 1-4800 bps.
687 2-9600 bps.
688 3-19200 bps.
689 4-38400 bps.
690 5-57600 bps|-|2
691 |(% style="width:81px" %)P12-3|(% style="width:137px" %)(((
692 Modbus data
693
694 format
695 )))|During running|Immediate|0~~3|(((
696 0: 1 stop bit，none
697 1: 1 stop bit，odd
698
699 2: 1 stop bit，even
700
701 3:2 stop bits，none
702 )))|-|0
703 |(% style="width:81px" %)P12-4|(% style="width:137px" %)(((
704 Update function
705
706 code values
707
708 written via
709
710 communication
711
712 to EEPROM
713 )))|During running|Immediate|0~~1|0-not write to EEPROM，volatile.
714 1-write to EEPROM，non-volatile|-|0
715
716 = **Modbus communication variable address and description** =
717
718 == **Variable address** ==
719
720 Modbus registers are divided into two categories,
721
722 The first type is the servo function code parameters (**address: **0x0001 ~~ 0x0D08), this part of the register is readable and writable (ie. supports 0x03 and 0x06)
723
724 The second type is the monitoring register of the servo (**address: **0x1E01 ~~ 0x2010), this part of the register is only readable (supports 0x03 function).
725
726 (% class="table-bordered" %)
727 |=(((
728 **Code**
729 )))|=(((
730 **Modbus address**
731
732 **~ (hex)**
733 )))|=(((
734 **Modbus address**
735
736 **~ (dec)**
737 )))|=(((
738 **category**
739 )))|=(((
740 **function**
741 )))
742 |(((
743 **P0-1**
744 )))|(((
745 **0x0001**
746 )))|(((
747 **1**
748 )))|(((
749 **Basic setting**
750 )))|(((
751 **Control mode**
752 )))
753
754 **Servo function code form:** PXX-YY
755
756 **That:**
757
758 **XX: **Represents the function code group number,
759
760 **YY: **Represents the offset within the function code group.
761
762 During servo communication, the communication address of the function code is a 16-bit address, which is composed of the function code group number (higher 8 bits) + offset within the group (lower 8 bits). For example, the modbus address corresponding to P12-1 (servo address) is 0x0C01.
763
764 **Modbus monitoring register form: **Uxx-yy
765
766 **That:**
767
768 * **xx: **Represents the monitoring register group number.
769 * **yy: **Represents the offset within the monitoring quantity group.
770 * During modbus communication, the starting address of the monitoring register is 0x1E01, and the conversion relationship of the address is similar to the representation of the function code.
771
772 For example, the corresponding modbus address of [U0-01] (servo status) is 0x1E01.
773
774 In order to facilitate practical use, the manual provides both decimal and hexadecimal address identification, **the table format is as follows:**
775
776 For detailed parameter address, please refer to the Chapter 11.
777
778 == **Value type description** ==
779
780 When signed function codes (16-bit and 32-bit) are written, the pre-written data needs to be converted into hexadecimal. **The conversion rule is as below:**
781
782 **Data is positive or 0:** complement = true form
783
784 **Data is negative:** complement = 0xFFFF – complement of data absolute value +
785
786 0x0001
787
788 **Example:**
789
790 **16-bit signed positive +100:** the true form is 0x0064, and the complement is also 0x0064.
791
792 **16-bit signed negative -100: **the hexadecimal complement is: 0xFFFF – 0x0064 + 0x0001= FF9C
793
794 If it is an unsigned number, the source code is directly converted into a hexadecimal number. For example decimal 32768 is 0x8000.
795
796 == **Value unit description** ==
797
798 Some values have units and decimals, such as 0.1%, 0.1Hz, 0.01ms. When reading and writing, the corresponding value conversion must be performed. **The representation method is as follows:**
799
800 **When the unit is 0.1%: **1 represents 0.1%, 10 represents 1.0%, 1000 represents 100.0%,
801
802 Therefore, writing 1000 means setting as 100.0%. otherwise, if reading value is 1000, it means the value is 100.0%.
803
804 **When the unit is 0.01ms: **1 represents 0.01ms, 50 represents 0.5ms, and 10000 represents 100ms.
805
806 Therefore, writing 1000 means setting as 10.00ms. otherwise, if reading value is 1000, it means the value is 10.00ms.
807
808 Other unit could be deduced in the same way.
809
810 = **Modbus Register Address** =
811
812 == **Basic Setting** ==
813
814 (% class="table-bordered" %)
815 |=(% rowspan="2" %)(((
816 **Code**
817 )))|=(% colspan="2" %)(((
818 **Modbus Address**
819 )))|=(% rowspan="2" %)(((
820 **Function**
821 )))|=(% rowspan="2" %)(((
822 **Unit**
823 )))|=(% rowspan="2" %)(((
824 **Bits**
825 )))
826 |=(((
827 **Hex**
828 )))|=(((
829 **Decimal**
830 )))
831 |(((
832 P0-1
833 )))|(((
834 0x0001
835 )))|(((
836 1
837 )))|(((
838 Contral mode
839 )))|(((
840 -
841 )))|(((
842 16
843 )))
844 |(((
845 P0-4
846 )))|(((
847 0x0004
848 )))|(((
849 4
850 )))|(((
851 Rotation direction
852 )))|(((
853 -
854 )))|(((
855 16
856 )))
857 |(((
858 P0-5
859 )))|(((
860 0x0005
861 )))|(((
862 5
863 )))|(((
864 Servo stop mode at S-ON off
865 )))|(((
866 -
867 )))|(((
868 16
869 )))
870 |(((
871 P0-9
872 )))|(((
873 0x0009
874 )))|(((
875 9
876 )))|(((
877 Regenerative resistor setting
878 )))|(((
879 -
880 )))|(((
881 16
882 )))
883 |(((
884 P0-10
885 )))|(((
886 0x000A
887 )))|(((
888 10
889 )))|(((
890 External regenerative resistor resistance
891 )))|(((
892 Ω
893 )))|(((
894 16
895 )))
896 |(((
897 P0-11
898 )))|(((
899 0x000B
900 )))|(((
901 11
902 )))|(((
903 External regenerative resistor power
904 )))|(((
905 W
906 )))|(((
907 16
908 )))
909 |(((
910 P0-12
911 )))|(((
912 0x000C
913 )))|(((
914 12
915 )))|(((
916 Position pulse type selection
917 )))|(((
918 -
919 )))|(((
920 16
921 )))
922 |(((
923 P0-13
924 )))|(((
925 0x000D
926 )))|(((
927 13
928 )))|(((
929 Position pulse frequency
930 )))|(((
931 kHz
932 )))|(((
933 16
934 )))
935 |(((
936 P0-14
937 )))|(((
938 0x000E
939 )))|(((
940 14
941 )))|(((
942 Position pulse anti-interference level
943 )))|(((
944 -
945 )))|(((
946 16
947 )))
948 |(((
949 P0-16
950 )))|(((
951 0x0010
952 )))|(((
953 16
954 )))|(((
955 Number of pulses per revolution of the motor
956 )))|(((
957 Pul
958 )))|(((
959 16
960 )))
961 |(((
962 P0-17
963 )))|(((
964 0x0011
965 )))|(((
966 17
967 )))|(((
968 Electronic gear 1 numerator
969 )))|(((
970 -
971 )))|(((
972 16
973 )))
974 |(((
975 P0-18
976 )))|(((
977 0x0012
978 )))|(((
979 18
980 )))|(((
981 Electronic gear 1 denominator
982 )))|(((
983 -
984 )))|(((
985 16
986 )))
987 |(((
988 P0-19
989 )))|(((
990 0x0013
991 )))|(((
992 19
993 )))|(((
994 Electronic gear 2 numerator
995 )))|(((
996 -
997 )))|(((
998 16
999 )))
1000 |(((
1001 P0-20
1002 )))|(((
1003 0x0014
1004 )))|(((
1005 20
1006 )))|(((
1007 Electronic gear 2 denominator
1008 )))|(((
1009 -
1010 )))|(((
1011 16
1012 )))
1013 |(((
1014 P0-21
1015 )))|(((
1016 0x0015
1017 )))|(((
1018 21
1019 )))|(((
1020 Pulse frequency division output direction
1021 )))|(((
1022 -
1023 )))|(((
1024 16
1025 )))
1026 |(((
1027 P0-22
1028 )))|(((
1029 0x0016
1030 )))|(((
1031 22
1032 )))|(((
1033 Number of output pulses per revolution of the motor
1034 )))|(((
1035 Pul
1036 )))|(((
1037 16
1038 )))
1039 |(((
1040 P0-23
1041 )))|(((
1042 0x0017
1043 )))|(((
1044 23
1045 )))|(((
1046 OZ polarity of Z pulse output
1047 )))|(((
1048 -
1049 )))|(((
1050 16
1051 )))
1052 |(((
1053 P0-25
1054 )))|(((
1055 0x0019
1056 )))|(((
1057 25
1058 )))|(((
1059 Position deviation limit
1060 )))|(((
1061 Pul
1062 )))|(((
1063 16
1064 )))
1065
1066 == **Control Parameter** ==
1067
1068 (% class="table-bordered" %)
1069 |=(% rowspan="2" %)(((
1070 **Code**
1071 )))|=(% colspan="2" %)(((
1072 **Modbus Address**
1073 )))|=(% rowspan="2" %)(((
1074 **Function**
1075 )))|=(% rowspan="2" %)(((
1076 **Unit**
1077 )))|=(% rowspan="2" %)(((
1078 **Bits**
1079 )))
1080 |=(((
1081 **Hex**
1082 )))|=(((
1083 **Decimal**
1084 )))
1085 |(((
1086 P1-1
1087 )))|(((
1088 0x0101
1089 )))|(((
1090 257
1091 )))|(((
1092 Speed reference source
1093 )))|(((
1094 -
1095 )))|(((
1096 16
1097 )))
1098 |(((
1099 P1-2
1100 )))|(((
1101 0x0102
1102 )))|(((
1103 258
1104 )))|(((
1105 Internal speed command
1106 )))|(((
1107 rpm
1108 )))|(((
1109 16
1110 )))
1111 |(((
1112 P1-3
1113 )))|(((
1114 0x0103
1115 )))|(((
1116 259
1117 )))|(((
1118 Acc. time
1119 )))|(((
1120 ms
1121 )))|(((
1122 16
1123 )))
1124 |(((
1125 P1-4
1126 )))|(((
1127 0x0104
1128 )))|(((
1129 260
1130 )))|(((
1131 Dec. time
1132 )))|(((
1133 ms
1134 )))|(((
1135 16
1136 )))
1137 |(((
1138 P1-7
1139 )))|(((
1140 0x0107
1141 )))|(((
1142 263
1143 )))|(((
1144 Torque reference source
1145 )))|(((
1146 -
1147 )))|(((
1148 16
1149 )))
1150 |(((
1151 P1-8
1152 )))|(((
1153 0x0108
1154 )))|(((
1155 264
1156 )))|(((
1157 Keypad setting value of torque reference
1158 )))|(((
1159 0.1%
1160 )))|(((
1161 16
1162 )))
1163 |(((
1164 P1-9
1165 )))|(((
1166 0x0109
1167 )))|(((
1168 265
1169 )))|(((
1170 Source of Speed Limit in Torque Mode
1171 )))|(((
1172 -
1173 )))|(((
1174 16
1175 )))
1176 |(((
1177 P1-10
1178 )))|(((
1179 0x010A
1180 )))|(((
1181 266
1182 )))|(((
1183 Maximum speed threshold
1184 )))|(((
1185 rpm
1186 )))|(((
1187 16
1188 )))
1189 |(((
1190 P1-11
1191 )))|(((
1192 0x010B
1193 )))|(((
1194 267
1195 )))|(((
1196 Warning speed threshold
1197 )))|(((
1198 rpm
1199 )))|(((
1200 16
1201 )))
1202 |(((
1203 P1-12
1204 )))|(((
1205 0x010C
1206 )))|(((
1207 268
1208 )))|(((
1209 Forward speed threshold
1210 )))|(((
1211 rpm
1212 )))|(((
1213 16
1214 )))
1215 |(((
1216 P1-13
1217 )))|(((
1218 0x010D
1219 )))|(((
1220 269
1221 )))|(((
1222 Backward speed threshold
1223 )))|(((
1224 rpm
1225 )))|(((
1226 16
1227 )))
1228 |(((
1229 P1-14
1230 )))|(((
1231 0x010E
1232 )))|(((
1233 270
1234 )))|(((
1235 Torque limit source
1236 )))|(((
1237 -
1238 )))|(((
1239 16
1240 )))
1241 |(((
1242 P1-15
1243 )))|(((
1244 0x010F
1245 )))|(((
1246 271
1247 )))|(((
1248 Forward rotation torque limit
1249 )))|(((
1250 0.1%
1251 )))|(((
1252 16
1253 )))
1254 |(((
1255 P1-16
1256 )))|(((
1257 0x0110
1258 )))|(((
1259 272
1260 )))|(((
1261 Backward rotation torque limit
1262 )))|(((
1263 0.1%
1264 )))|(((
1265 16
1266 )))
1267 |(((
1268 P1-19
1269 )))|(((
1270 0x0113
1271 )))|(((
1272 275
1273 )))|(((
1274 Torque saturation timeout
1275 )))|(((
1276 ms
1277 )))|(((
1278 16
1279 )))
1280 |(((
1281 P1-21
1282 )))|(((
1283 0x0115
1284 )))|(((
1285 277
1286 )))|(((
1287 Zero speed clamp function selection
1288 )))|(((
1289 rpm
1290 )))|(((
1291 16
1292 )))
1293 |(((
1294 P1-22
1295 )))|(((
1296 0x0116
1297 )))|(((
1298 278
1299 )))|(((
1300 Zero speed clamp speed threshold
1301 )))|(((
1302 rpm
1303 )))|(((
1304 16
1305 )))
1306
1307 == **Gain Adjustment** ==
1308
1309 (% class="table-bordered" %)
1310 |=(% rowspan="2" %)(((
1311 **Code**
1312 )))|=(% colspan="2" %)(((
1313 **Modbus Address**
1314 )))|=(% rowspan="2" %)(((
1315 **Function**
1316 )))|=(% rowspan="2" %)(((
1317 **Unit**
1318 )))|=(% rowspan="2" %)(((
1319 **Bits**
1320 )))
1321 |=(((
1322 **Hex**
1323 )))|=(((
1324 **Decimal**
1325 )))
1326 |(((
1327 P2-1
1328 )))|(((
1329 0x0201
1330 )))|(((
1331 513
1332 )))|(((
1333 1st position loop gain
1334 )))|(((
1335 0.1Hz
1336 )))|(((
1337 16
1338 )))
1339 |(((
1340 P2-2
1341 )))|(((
1342 0x0202
1343 )))|(((
1344 514
1345 )))|(((
1346 1st speed loop gain
1347 )))|(((
1348 0.1Hz
1349 )))|(((
1350 16
1351 )))
1352 |(((
1353 P2-3
1354 )))|(((
1355 0x0203
1356 )))|(((
1357 515
1358 )))|(((
1359 1st speed loop integration time constant
1360 )))|(((
1361 0.1ms
1362 )))|(((
1363 16
1364 )))
1365 |(((
1366 P2-4
1367 )))|(((
1368 0x0204
1369 )))|(((
1370 516
1371 )))|(((
1372 2nd position loop gain
1373 )))|(((
1374 0.1Hz
1375 )))|(((
1376 16
1377 )))
1378 |(((
1379 P2-5
1380 )))|(((
1381 0x0205
1382 )))|(((
1383 517
1384 )))|(((
1385 2nd speed loop gain
1386 )))|(((
1387 0.1Hz
1388 )))|(((
1389 16
1390 )))
1391 |(((
1392 P2-6
1393 )))|(((
1394 0x0206
1395 )))|(((
1396 518
1397 )))|(((
1398 2nd speed loop integration time constant
1399 )))|(((
1400 0.1ms
1401 )))|(((
1402 16
1403 )))
1404 |(((
1405 P2-7
1406 )))|(((
1407 0x0207
1408 )))|(((
1409 519
1410 )))|(((
1411 Second gain switching mode
1412 )))|(((
1413 -
1414 )))|(((
1415 16
1416 )))
1417 |(((
1418 P2-9
1419 )))|(((
1420 0x0209
1421 )))|(((
1422 521
1423 )))|(((
1424 Speed feedforward gain
1425 )))|(((
1426 0.1%
1427 )))|(((
1428 16
1429 )))
1430 |(((
1431 P2-10
1432 )))|(((
1433 0x020A
1434 )))|(((
1435 522
1436 )))|(((
1437 Speed feedforward filter
1438 )))|(((
1439 0.01ms
1440 )))|(((
1441 16
1442 )))
1443 |(((
1444 P2-11
1445 )))|(((
1446 0x020B
1447 )))|(((
1448 523
1449 )))|(((
1450 Torque feedforward gain
1451 )))|(((
1452 0.1%
1453 )))|(((
1454 16
1455 )))
1456 |(((
1457 P2-12
1458 )))|(((
1459 0x020C
1460 )))|(((
1461 524
1462 )))|(((
1463 Torque feedforward filter
1464 )))|(((
1465 0.01ms
1466 )))|(((
1467 16
1468 )))
1469
1470 == **Auto-tuning Parameter** ==
1471
1472 (% class="table-bordered" %)
1473 |=(% rowspan="2" %)(((
1474 **Code**
1475 )))|=(% colspan="2" %)(((
1476 **Modbus Address**
1477 )))|=(% rowspan="2" %)(((
1478 **Function**
1479 )))|=(% rowspan="2" %)(((
1480 **Unit**
1481 )))|=(% rowspan="2" %)(((
1482 **Bits**
1483 )))
1484 |=(((
1485 **Hex**
1486 )))|=(((
1487 **Decimal**
1488 )))
1489 |(((
1490 P3-1
1491 )))|(((
1492 0x0301
1493 )))|(((
1494 769
1495 )))|(((
1496 Load inertia ratio
1497 )))|(((
1498 0.01
1499 )))|(((
1500 16
1501 )))
1502 |(((
1503 P3-2
1504 )))|(((
1505 0x0302
1506 )))|(((
1507 770
1508 )))|(((
1509 Load level rigidity selection
1510 )))|(((
1511 -
1512 )))|(((
1513 16
1514 )))
1515 |(((
1516 P3-3
1517 )))|(((
1518 0x0303
1519 )))|(((
1520 771
1521 )))|(((
1522 Auto-tuning mode selection
1523 )))|(((
1524 -
1525 )))|(((
1526 16
1527 )))
1528 |(((
1529 P3-4
1530 )))|(((
1531 0x0304
1532 )))|(((
1533 772
1534 )))|(((
1535 Online inertia identification sensitivity
1536 )))|(((
1537 -
1538 )))|(((
1539 16
1540 )))
1541 |(((
1542 P3-5
1543 )))|(((
1544 0x0305
1545 )))|(((
1546 773
1547 )))|(((
1548 Number of inertia identification cycles
1549 )))|(((
1550 Revolution
1551 )))|(((
1552 16
1553 )))
1554 |(((
1555 P3-6
1556 )))|(((
1557 0x0306
1558 )))|(((
1559 774
1560 )))|(((
1561 Maximum speed of inertia identification
1562 )))|(((
1563 rpm
1564 )))|(((
1565 16
1566 )))
1567 |(((
1568 P3-7
1569 )))|(((
1570 0x0307
1571 )))|(((
1572 775
1573 )))|(((
1574 Parameter identification rotation direction
1575 )))|(((
1576 -
1577 )))|(((
1578 16
1579 )))
1580 |(((
1581 P3-8
1582 )))|(((
1583 0x0308
1584 )))|(((
1585 776
1586 )))|(((
1587 Parameter identification waiting time
1588 )))|(((
1589 ms
1590 )))|(((
1591 16
1592 )))
1593
1594 == **Vibration Inhabitation** ==
1595
1596 (% class="table-bordered" %)
1597 |=(% rowspan="2" %)(((
1598 **Code**
1599 )))|=(% colspan="2" %)(((
1600 **Modbus Address**
1601 )))|=(% rowspan="2" %)(((
1602 **Function**
1603 )))|=(% rowspan="2" %)(((
1604 **Unit**
1605 )))|=(% rowspan="2" %)(((
1606 **Bits**
1607 )))
1608 |=(((
1609 **Hex**
1610 )))|=(((
1611 **Decimal**
1612 )))
1613 |(((
1614 P4-1
1615 )))|(((
1616 0x0401
1617 )))|(((
1618 1025
1619 )))|(((
1620 Pulse reference filtering method
1621 )))|(((
1622 -
1623 )))|(((
1624 16
1625 )))
1626 |(((
1627 P4-2
1628 )))|(((
1629 0x0402
1630 )))|(((
1631 1026
1632 )))|(((
1633 Position reference first-order low-pass filter
1634 )))|(((
1635 ms
1636 )))|(((
1637 16
1638 )))
1639 |(((
1640 P4-3
1641 )))|(((
1642 0x0403
1643 )))|(((
1644 1027
1645 )))|(((
1646 Position reference average filter time constant
1647 )))|(((
1648 ms
1649 )))|(((
1650 16
1651 )))
1652 |(((
1653 P4-4
1654 )))|(((
1655 0x0404
1656 )))|(((
1657 1028
1658 )))|(((
1659 Torque filter time constant
1660 )))|(((
1661 0.01
1662 )))|(((
1663 16
1664 )))
1665 |(((
1666 P4-5
1667 )))|(((
1668 0x0405
1669 )))|(((
1670 1029
1671 )))|(((
1672 1st notch frequency
1673 )))|(((
1674 Hz
1675 )))|(((
1676 16
1677 )))
1678 |(((
1679 P4-6
1680 )))|(((
1681 0x0406
1682 )))|(((
1683 1030
1684 )))|(((
1685 1st notch depth
1686 )))|(((
1687 -
1688 )))|(((
1689 16
1690 )))
1691 |(((
1692 P4-7
1693 )))|(((
1694 0x0407
1695 )))|(((
1696 1031
1697 )))|(((
1698 1st notch width
1699 )))|(((
1700 -
1701 )))|(((
1702 16
1703 )))
1704 |(((
1705 P4-8
1706 )))|(((
1707 0x0408
1708 )))|(((
1709 1032
1710 )))|(((
1711 2nd notch frequency
1712 )))|(((
1713 Hz
1714 )))|(((
1715 16
1716 )))
1717 |(((
1718 P4-9
1719 )))|(((
1720 0x0409
1721 )))|(((
1722 1033
1723 )))|(((
1724 2nd notch depth
1725 )))|(((
1726 -
1727 )))|(((
1728 16
1729 )))
1730 |(((
1731 P4-10
1732 )))|(((
1733 0x040A
1734 )))|(((
1735 1034
1736 )))|(((
1737 2nd notch width
1738 )))|(((
1739 -
1740 )))|(((
1741 16
1742 )))
1743
1744 == **Signal Input/Output** ==
1745
1746 (% class="table-bordered" %)
1747 |=(% rowspan="2" %)(((
1748 **Code**
1749 )))|=(% colspan="2" %)(((
1750 **Modbus Address**
1751 )))|=(% rowspan="2" %)(((
1752 **Function**
1753 )))|=(% rowspan="2" %)(((
1754 **Unit**
1755 )))|=(% rowspan="2" %)(((
1756 **Bits**
1757 )))
1758 |=(((
1759 **Hex**
1760 )))|=(((
1761 **Decimal**
1762 )))
1763 |(((
1764 P5-1
1765 )))|(((
1766 0x0501
1767 )))|(((
1768 1281
1769 )))|(((
1770 AI_1 input bias
1771 )))|(((
1772 mV
1773 )))|(((
1774 16
1775 )))
1776 |(((
1777 P5-2
1778 )))|(((
1779 0x0502
1780 )))|(((
1781 1282
1782 )))|(((
1783 AI_1 input filter constant
1784 )))|(((
1785 0.01ms
1786 )))|(((
1787 16
1788 )))
1789 |(((
1790 P5-3
1791 )))|(((
1792 0x0503
1793 )))|(((
1794 1283
1795 )))|(((
1796 AI_1 dead zone
1797 )))|(((
1798 mV
1799 )))|(((
1800 16
1801 )))
1802 |(((
1803 P5-4
1804 )))|(((
1805 0x0504
1806 )))|(((
1807 1284
1808 )))|(((
1809 AI_1 zero shift
1810 )))|(((
1811 mV
1812 )))|(((
1813 16
1814 )))
1815 |(((
1816 P5-5
1817 )))|(((
1818 0x0505
1819 )))|(((
1820 1285
1821 )))|(((
1822 AI_2 input bias
1823 )))|(((
1824 mV
1825 )))|(((
1826 16
1827 )))
1828 |(((
1829 P5-6
1830 )))|(((
1831 0x0506
1832 )))|(((
1833 1286
1834 )))|(((
1835 AI_2 input filter constant
1836 )))|(((
1837 0.01ms
1838 )))|(((
1839 16
1840 )))
1841 |(((
1842 P5-7
1843 )))|(((
1844 0x0507
1845 )))|(((
1846 1287
1847 )))|(((
1848 AI_2 dead zone
1849 )))|(((
1850 mV
1851 )))|(((
1852 16
1853 )))
1854 |(((
1855 P5-8
1856 )))|(((
1857 0x0508
1858 )))|(((
1859 1288
1860 )))|(((
1861 AI_2 zero shift
1862 )))|(((
1863 mV
1864 )))|(((
1865 16
1866 )))
1867 |(((
1868 P5-9
1869 )))|(((
1870 0x0509
1871 )))|(((
1872 1289
1873 )))|(((
1874 the speed value corresponding to analog 10V
1875 )))|(((
1876 rpm
1877 )))|(((
1878 16
1879 )))
1880 |(((
1881 P5-10
1882 )))|(((
1883 0x050A
1884 )))|(((
1885 1290
1886 )))|(((
1887 the torque value corresponding to analog 10V
1888 )))|(((
1889 0.1%
1890 )))|(((
1891 16
1892 )))
1893 |(((
1894 P5-11
1895 )))|(((
1896 0x050B
1897 )))|(((
1898 1291
1899 )))|(((
1900 Positioning complete, positioning approach condition setting
1901 )))|(((
1902 -
1903 )))|(((
1904 16
1905 )))
1906 |(((
1907 P5-12
1908 )))|(((
1909 0x050C
1910 )))|(((
1911 1292
1912 )))|(((
1913 Positioning completion threshold
1914 )))|(((
1915 Pul
1916 )))|(((
1917 16
1918 )))
1919 |(((
1920 P5-13
1921 )))|(((
1922 0x050D
1923 )))|(((
1924 1293
1925 )))|(((
1926 Positioning approach threshold
1927 )))|(((
1928 Pul
1929 )))|(((
1930 16
1931 )))
1932 |(((
1933 P5-14
1934 )))|(((
1935 0x050E
1936 )))|(((
1937 1294
1938 )))|(((
1939 Set the positioning completion detection time window
1940 )))|(((
1941 ms
1942 )))|(((
1943 16
1944 )))
1945 |(((
1946 P5-15
1947 )))|(((
1948 0x050F
1949 )))|(((
1950 1295
1951 )))|(((
1952 Set the hold time of positioning completion output
1953 )))|(((
1954 ms
1955 )))|(((
1956 16
1957 )))
1958 |(((
1959 P5-16
1960 )))|(((
1961 0x0510
1962 )))|(((
1963 1296
1964 )))|(((
1965 Rotation speed detection threshold
1966 )))|(((
1967 rpm
1968 )))|(((
1969 16
1970 )))
1971 |(((
1972 P5-17
1973 )))|(((
1974 0x0511
1975 )))|(((
1976 1297
1977 )))|(((
1978 Speed consistent signal threshold
1979 )))|(((
1980 rpm
1981 )))|(((
1982 16
1983 )))
1984 |(((
1985 P5-18
1986 )))|(((
1987 0x0512
1988 )))|(((
1989 1298
1990 )))|(((
1991 Speed approaching signal threshold
1992 )))|(((
1993 rpm
1994 )))|(((
1995 16
1996 )))
1997 |(((
1998 P5-19
1999 )))|(((
2000 0x0513
2001 )))|(((
2002 1299
2003 )))|(((
2004 Zero speed output signal threshold
2005 )))|(((
2006 rpm
2007 )))|(((
2008 16
2009 )))
2010 |(((
2011 P5-20
2012 )))|(((
2013 0x0514
2014 )))|(((
2015 1300
2016 )))|(((
2017 Torque reached threshold
2018 )))|(((
2019 %
2020 )))|(((
2021 16
2022 )))
2023 |(((
2024 P5-21
2025 )))|(((
2026 0x0515
2027 )))|(((
2028 1301
2029 )))|(((
2030 Torque reached hysteresis
2031 )))|(((
2032 %
2033 )))|(((
2034 16
2035 )))
2036
2037 == **DI/DO Configuration** ==
2038
2039 (% class="table-bordered" %)
2040 |=(% rowspan="2" %)(((
2041 **Code**
2042 )))|=(% colspan="2" %)(((
2043 **Modbus Address**
2044 )))|=(% rowspan="2" %)(((
2045 **Function**
2046 )))|=(% rowspan="2" %)(((
2047 **Unit**
2048 )))|=(% rowspan="2" %)(((
2049 **Bits**
2050 )))
2051 |=(((
2052 **Hex**
2053 )))|=(((
2054 **Decimal**
2055 )))
2056 |(((
2057 P6-01
2058 )))|(((
2059 0x0601
2060 )))|(((
2061 1537
2062 )))|(((
2063 High-speed DI port filtering time
2064 )))|(((
2065 1us
2066 )))|(((
2067 16
2068 )))
2069 |(((
2070 P6-02
2071 )))|(((
2072 0x0602
2073 )))|(((
2074 1538
2075 )))|(((
2076 DI_1 Channel function selection
2077 )))|(((
2078 -
2079 )))|(((
2080 16
2081 )))
2082 |(((
2083 P6-03
2084 )))|(((
2085 0x0603
2086 )))|(((
2087 1539
2088 )))|(((
2089 DI_1 Channel logic selection
2090 )))|(((
2091 -
2092 )))|(((
2093 16
2094 )))
2095 |(((
2096 P6-04
2097 )))|(((
2098 0x0604
2099 )))|(((
2100 1540
2101 )))|(((
2102 DI_1 Input source selection
2103 )))|(((
2104 -
2105 )))|(((
2106 16
2107 )))
2108 |(((
2109 P6-05
2110 )))|(((
2111 0x0605
2112 )))|(((
2113 1541
2114 )))|(((
2115 DI_2 Channel function selection
2116 )))|(((
2117 -
2118 )))|(((
2119 16
2120 )))
2121 |(((
2122 P6-06
2123 )))|(((
2124 0x0606
2125 )))|(((
2126 1542
2127 )))|(((
2128 DI_2 Channel logic selection
2129 )))|(((
2130 -
2131 )))|(((
2132 16
2133 )))
2134 |(((
2135 P6-07
2136 )))|(((
2137 0x0607
2138 )))|(((
2139 1543
2140 )))|(((
2141 DI_2 Input source selection
2142 )))|(((
2143 -
2144 )))|(((
2145 16
2146 )))
2147 |(((
2148 P6-08
2149 )))|(((
2150 0x0608
2151 )))|(((
2152 1544
2153 )))|(((
2154 DI_3 Channel function selection
2155 )))|(((
2156 -
2157 )))|(((
2158 16
2159 )))
2160 |(((
2161 P6-09
2162 )))|(((
2163 0x0609
2164 )))|(((
2165 1545
2166 )))|(((
2167 DI_3 Channel logic selection
2168 )))|(((
2169 -
2170 )))|(((
2171 16
2172 )))
2173 |(((
2174 P6-10
2175 )))|(((
2176 0x060A
2177 )))|(((
2178 1546
2179 )))|(((
2180 DI_3 Input source selection
2181 )))|(((
2182 -
2183 )))|(((
2184 16
2185 )))
2186 |(((
2187 P6-11
2188 )))|(((
2189 0x060B
2190 )))|(((
2191 1547
2192 )))|(((
2193 DI_4 Channel function selection
2194 )))|(((
2195 -
2196 )))|(((
2197 16
2198 )))
2199 |(((
2200 P6-12
2201 )))|(((
2202 0x060C
2203 )))|(((
2204 1548
2205 )))|(((
2206 DI_4 Channel logic selection
2207 )))|(((
2208 -
2209 )))|(((
2210 16
2211 )))
2212 |(((
2213 P6-13
2214 )))|(((
2215 0x060D
2216 )))|(((
2217 1549
2218 )))|(((
2219 DI_4 Input source selection
2220 )))|(((
2221 -
2222 )))|(((
2223 16
2224 )))
2225 |(((
2226 P6-14
2227 )))|(((
2228 0x060E
2229 )))|(((
2230 1550
2231 )))|(((
2232 DI_5 Channel function selection
2233 )))|(((
2234 -
2235 )))|(((
2236 16
2237 )))
2238 |(((
2239 P6-15
2240 )))|(((
2241 0x060F
2242 )))|(((
2243 1551
2244 )))|(((
2245 DI_5 Channel logic selection
2246 )))|(((
2247 -
2248 )))|(((
2249 16
2250 )))
2251 |(((
2252 P6-16
2253 )))|(((
2254 0x0610
2255 )))|(((
2256 1552
2257 )))|(((
2258 DI_5 Input source selection
2259 )))|(((
2260 -
2261 )))|(((
2262 16
2263 )))
2264 |(((
2265 P6-17
2266 )))|(((
2267 0x0611
2268 )))|(((
2269 1553
2270 )))|(((
2271 DI_6 Channel function selection
2272 )))|(((
2273 -
2274 )))|(((
2275 16
2276 )))
2277 |(((
2278 P6-18
2279 )))|(((
2280 0x0612
2281 )))|(((
2282 1554
2283 )))|(((
2284 DI_6 Channel logic selection
2285 )))|(((
2286 -
2287 )))|(((
2288 16
2289 )))
2290 |(((
2291 P6-19
2292 )))|(((
2293 0x0613
2294 )))|(((
2295 1555
2296 )))|(((
2297 DI_6 Input source selection
2298 )))|(((
2299 -
2300 )))|(((
2301 16
2302 )))
2303 |(((
2304 P6-20
2305 )))|(((
2306 0x0614
2307 )))|(((
2308 1556
2309 )))|(((
2310 DI_7 Channel function selection
2311 )))|(((
2312 -
2313 )))|(((
2314 16
2315 )))
2316 |(((
2317 P6-21
2318 )))|(((
2319 0x0615
2320 )))|(((
2321 1557
2322 )))|(((
2323 DI_7 Channel logic selection
2324 )))|(((
2325 -
2326 )))|(((
2327 16
2328 )))
2329 |(((
2330 P6-22
2331 )))|(((
2332 0x0616
2333 )))|(((
2334 1558
2335 )))|(((
2336 DI_7 Input source selection
2337 )))|(((
2338 -
2339 )))|(((
2340 16
2341 )))
2342 |(((
2343 P6-23
2344 )))|(((
2345 0x0617
2346 )))|(((
2347 1559
2348 )))|(((
2349 DI_8 Channel function selection
2350 )))|(((
2351 -
2352 )))|(((
2353 16
2354 )))
2355 |(((
2356 P6-24
2357 )))|(((
2358 0x0618
2359 )))|(((
2360 1560
2361 )))|(((
2362 DI_8 Channel logic selection
2363 )))|(((
2364 -
2365 )))|(((
2366 16
2367 )))
2368 |(((
2369 P6-25
2370 )))|(((
2371 0x0619
2372 )))|(((
2373 1561
2374 )))|(((
2375 DI_8 Input source selection
2376 )))|(((
2377 -
2378 )))|(((
2379 16
2380 )))
2381 |(((
2382 P6-26
2383 )))|(((
2384 0x061A
2385 )))|(((
2386 1562
2387 )))|(((
2388 DO_1 Channel function selection
2389 )))|(((
2390 -
2391 )))|(((
2392 16
2393 )))
2394 |(((
2395 P6-27
2396 )))|(((
2397 0x061B
2398 )))|(((
2399 1563
2400 )))|(((
2401 DO_1 Channel logic selection
2402 )))|(((
2403 -
2404 )))|(((
2405 16
2406 )))
2407 |(((
2408 P6-28
2409 )))|(((
2410 0x061C
2411 )))|(((
2412 1564
2413 )))|(((
2414 DO_2 Channel function selection
2415 )))|(((
2416 -
2417 )))|(((
2418 16
2419 )))
2420 |(((
2421 P6-29
2422 )))|(((
2423 0x061D
2424 )))|(((
2425 1565
2426 )))|(((
2427 DO_2 Channel logic selection
2428 )))|(((
2429 -
2430 )))|(((
2431 16
2432 )))
2433 |(((
2434 P6-30
2435 )))|(((
2436 0x061E
2437 )))|(((
2438 1566
2439 )))|(((
2440 DO_3 Channel function selection
2441 )))|(((
2442 -
2443 )))|(((
2444 16
2445 )))
2446 |(((
2447 P6-31
2448 )))|(((
2449 0x061F
2450 )))|(((
2451 1567
2452 )))|(((
2453 DO_3 Channel logic selection
2454 )))|(((
2455 -
2456 )))|(((
2457 16
2458 )))
2459 |(((
2460 P6-32
2461 )))|(((
2462 0x0620
2463 )))|(((
2464 1568
2465 )))|(((
2466 DO_4 Channel function selection
2467 )))|(((
2468 -
2469 )))|(((
2470 16
2471 )))
2472 |(((
2473 P6-33
2474 )))|(((
2475 0x0621
2476 )))|(((
2477 1569
2478 )))|(((
2479 DO_4 Channel logic selection
2480 )))|(((
2481 -
2482 )))|(((
2483 16
2484 )))
2485
2486 == **Auxiliary Function** ==
2487
2488 (% class="table-bordered" %)
2489 |=(% rowspan="2" %)(((
2490 **Code**
2491 )))|=(% colspan="2" %)(((
2492 **Modbus Address**
2493 )))|=(% rowspan="2" %)(((
2494 **Function**
2495 )))|=(% rowspan="2" %)(((
2496 **Unit**
2497 )))|=(% rowspan="2" %)(((
2498 **Bits**
2499 )))
2500 |=(((
2501 **Hex**
2502 )))|=(((
2503 **Decimal**
2504 )))
2505 |(((
2506 P10-1
2507 )))|(((
2508 0x0A01
2509 )))|(((
2510 2561
2511 )))|(((
2512 JOG sped
2513 )))|(((
2514 rpm
2515 )))|(((
2516 16
2517 )))
2518 |(((
2519 P10-2
2520 )))|(((
2521 0x0A02
2522 )))|(((
2523 2562
2524 )))|(((
2525 Restore factory setting
2526 )))|(((
2527 -
2528 )))|(((
2529 16
2530 )))
2531 |(((
2532 P10-4
2533 )))|(((
2534 0x0A04
2535 )))|(((
2536 2564
2537 )))|(((
2538 Motor overload protection time coefficient
2539 )))|(((
2540 %
2541 )))|(((
2542 16
2543 )))
2544
2545 == **Communication Parameter** ==
2546
2547 (% class="table-bordered" style="font-size:14px" %)
2548 |=(% rowspan="2" %)(((
2549 **Code**
2550 )))|=(% colspan="2" %)(((
2551 **Modbus Address**
2552 )))|=(% rowspan="2" %)(((
2553 **Function**
2554 )))|=(% rowspan="2" %)(((
2555 **Unit**
2556 )))|=(% rowspan="2" %)(((
2557 **Bits**
2558 )))
2559 |=(((
2560 **Hex**
2561 )))|=(((
2562 **Decimal**
2563 )))
2564 |(((
2565 P12-1
2566 )))|(((
2567 0x0C01
2568 )))|(((
2569 3073
2570 )))|(((
2571 Servo station number
2572 )))|(((
2573 -
2574 )))|(((
2575 16
2576 )))
2577 |(((
2578 P12-2
2579 )))|(((
2580 0x0C02
2581 )))|(((
2582 3074
2583 )))|(((
2584 baudrate
2585 )))|(((
2586 -
2587 )))|(((
2588 16
2589 )))
2590 |(((
2591 P12-3
2592 )))|(((
2593 0x0C03
2594 )))|(((
2595 3075
2596 )))|(((
2597 Serial data format
2598 )))|(((
2599 -
2600 )))|(((
2601 16
2602 )))
2603 |(((
2604 P12-4
2605 )))|(((
2606 0x0C04
2607 )))|(((
2608 3076
2609 )))|(((
2610 Write modbus communication data to EEPROM
2611 )))|(((
2612 -
2613 )))|(((
2614 1
2615 )))
2616
2617 == **VDI** ==
2618
2619 (% class="table-bordered" %)
2620 |=(% rowspan="2" %)(((
2621 **Code**
2622 )))|=(% colspan="2" %)(((
2623 **Modbus Address**
2624 )))|=(% rowspan="2" %)(((
2625 **Function**
2626 )))|=(% rowspan="2" %)(((
2627 **Unit**
2628 )))|=(% rowspan="2" %)(((
2629 **Bits**
2630 )))
2631 |=(((
2632 **Hex**
2633 )))|=(((
2634 **Decimal**
2635 )))
2636 |(((
2637 P13-1
2638 )))|(((
2639 0x0D01
2640 )))|(((
2641 3329
2642 )))|(((
2643 VDI_1 input value
2644 )))|(((
2645 -
2646 )))|(((
2647 16
2648 )))
2649 |(((
2650 P13-2
2651 )))|(((
2652 0x0D02
2653 )))|(((
2654 3330
2655 )))|(((
2656 VDI_2 input value
2657 )))|(((
2658 -
2659 )))|(((
2660 16
2661 )))
2662 |(((
2663 P13-3
2664 )))|(((
2665 0x0D03
2666 )))|(((
2667 3331
2668 )))|(((
2669 VDI_3 input value
2670 )))|(((
2671 -
2672 )))|(((
2673 16
2674 )))
2675 |(((
2676 P13-4
2677 )))|(((
2678 0x0D04
2679 )))|(((
2680 3332
2681 )))|(((
2682 VDI_4 input value
2683 )))|(((
2684 -
2685 )))|(((
2686 16
2687 )))
2688 |(((
2689 P13-5
2690 )))|(((
2691 0x0D05
2692 )))|(((
2693 3333
2694 )))|(((
2695 VDI_5 input value
2696 )))|(((
2697 -
2698 )))|(((
2699 16
2700 )))
2701 |(((
2702 P13-6
2703 )))|(((
2704 0x0D06
2705 )))|(((
2706 3334
2707 )))|(((
2708 VDI_6 input value
2709 )))|(((
2710 -
2711 )))|(((
2712 16
2713 )))
2714 |(((
2715 P13-7
2716 )))|(((
2717 0x0D07
2718 )))|(((
2719 3335
2720 )))|(((
2721 VDI_7 input value
2722 )))|(((
2723 -
2724 )))|(((
2725 16
2726 )))
2727 |(((
2728 P13-8
2729 )))|(((
2730 0x0D08
2731 )))|(((
2732 3336
2733 )))|(((
2734 VDI_8 input value
2735 )))|(((
2736 -
2737 )))|(((
2738 16
2739 )))
2740
2741 == **Monitoring Parameter** ==
2742
2743 (% class="table-bordered" %)
2744 |=(% rowspan="2" %)(((
2745 **Code**
2746 )))|=(% colspan="2" %)(((
2747 **Modbus Address**
2748 )))|=(% rowspan="2" %)(((
2749 **Function**
2750 )))|=(% rowspan="2" %)(((
2751 **Unit**
2752 )))|=(% rowspan="2" %)(((
2753 **Bits**
2754 )))
2755 |=(((
2756 **Hex**
2757 )))|=(((
2758 **Decimal**
2759 )))
2760 |(((
2761 U0-01
2762 )))|(((
2763 0x1E01
2764 )))|(((
2765 7681
2766 )))|(((
2767 Servo state
2768 )))|(((
2769 -
2770 )))|(((
2771 16
2772 )))
2773 |(((
2774 U0-02
2775 )))|(((
2776 0x1E02
2777 )))|(((
2778 7682
2779 )))|(((
2780 Servo motor speed
2781 )))|(((
2782 rpm
2783 )))|(((
2784 16
2785 )))
2786 |(((
2787 U0-03
2788 )))|(((
2789 0x1E03
2790 )))|(((
2791 7683
2792 )))|(((
2793 Enter speed command
2794 )))|(((
2795 rpm
2796 )))|(((
2797 16
2798 )))
2799 |(((
2800 U0-04
2801 )))|(((
2802 0x1E04
2803 )))|(((
2804 7684
2805 )))|(((
2806 Speed corresponding to input position reference
2807 )))|(((
2808 rpm
2809 )))|(((
2810 16
2811 )))
2812 |(((
2813 U0-05
2814 )))|(((
2815 0x1E05
2816 )))|(((
2817 7685
2818 )))|(((
2819 Pulse deviation
2820 )))|(((
2821 Pul
2822 )))|(((
2823 32
2824 )))
2825 |(((
2826 U0-07
2827 )))|(((
2828 0x1E07
2829 )))|(((
2830 7687
2831 )))|(((
2832 Pulse deviation *10000
2833 )))|(((
2834 Pul
2835 )))|(((
2836 32
2837 )))
2838 |(((
2839 U0-09
2840 )))|(((
2841 0x1E09
2842 )))|(((
2843 7689
2844 )))|(((
2845 input pulse number
2846 )))|(((
2847 Pul
2848 )))|(((
2849 32
2850 )))
2851 |(((
2852 U0-11
2853 )))|(((
2854 0x1E0B
2855 )))|(((
2856 7691
2857 )))|(((
2858 input pulse number *10000
2859 )))|(((
2860 Pul
2861 )))|(((
2862 32
2863 )))
2864 |(((
2865 U0-13
2866 )))|(((
2867 0x1E0D
2868 )))|(((
2869 7693
2870 )))|(((
2871 Encoder accumulative position
2872 )))|(((
2873 Pul
2874 )))|(((
2875 32
2876 )))
2877 |(((
2878 U0-15
2879 )))|(((
2880 0x1E0F
2881 )))|(((
2882 7695
2883 )))|(((
2884 Encoder accumulative position *10000
2885 )))|(((
2886 Pul
2887 )))|(((
2888 32
2889 )))
2890 |(((
2891 U0-17
2892 )))|(((
2893 0x1E11
2894 )))|(((
2895 7697
2896 )))|(((
2897 DI input signal state
2898 )))|(((
2899 -
2900 )))|(((
2901 32
2902 )))
2903 |(((
2904 U0-19
2905 )))|(((
2906 0x1E13
2907 )))|(((
2908 7699
2909 )))|(((
2910 DO output signal state
2911 )))|(((
2912 -
2913 )))|(((
2914 32
2915 )))
2916 |(((
2917 U0-21
2918 )))|(((
2919 0x1E15
2920 )))|(((
2921 7701
2922 )))|(((
2923 AI1 input voltage value
2924 )))|(((
2925 V
2926 )))|(((
2927 16
2928 )))
2929 |(((
2930 U0-22
2931 )))|(((
2932 0x1E16
2933 )))|(((
2934 7702
2935 )))|(((
2936 AI2 input voltage value
2937 )))|(((
2938 V
2939 )))|(((
2940 16
2941 )))
2942 |(((
2943 U0-23
2944 )))|(((
2945 0x1E17
2946 )))|(((
2947 7703
2948 )))|(((
2949 vibration frequency
2950 )))|(((
2951 Hz
2952 )))|(((
2953 16
2954 )))
2955 |(((
2956 U0-24
2957 )))|(((
2958 0x1E18
2959 )))|(((
2960 7704
2961 )))|(((
2962 Vibration amplitude
2963 )))|(((
2964 rpm
2965 )))|(((
2966 16
2967 )))
2968 |(((
2969 U0-25
2970 )))|(((
2971 0x1E19
2972 )))|(((
2973 7705
2974 )))|(((
2975 forward torque limitation
2976 )))|(((
2977 %
2978 )))|(((
2979 16
2980 )))
2981 |(((
2982 U0-26
2983 )))|(((
2984 0x1E1A
2985 )))|(((
2986 7706
2987 )))|(((
2988 backward torque limitation
2989 )))|(((
2990 %
2991 )))|(((
2992 16
2993 )))
2994 |(((
2995 U0-27
2996 )))|(((
2997 0x1E1B
2998 )))|(((
2999 7707
3000 )))|(((
3001 forward speed limitation
3002 )))|(((
3003 rpm
3004 )))|(((
3005 16
3006 )))
3007 |(((
3008 U0-28
3009 )))|(((
3010 0x1E1C
3011 )))|(((
3012 7708
3013 )))|(((
3014 backward speed limitation
3015 )))|(((
3016 rpm
3017 )))|(((
3018 16
3019 )))
3020 |(((
3021 U0-29
3022 )))|(((
3023 0x1E1D
3024 )))|(((
3025 7709
3026 )))|(((
3027 Mechanical angle
3028 )))|(((
3029 °
3030 )))|(((
3031 16
3032 )))
3033 |(((
3034 U0-30
3035 )))|(((
3036 0x1E1E
3037 )))|(((
3038 7710
3039 )))|(((
3040 Electric angle
3041 )))|(((
3042 °
3043 )))|(((
3044 16
3045 )))
3046 |(((
3047 U0-31
3048 )))|(((
3049 0x1E1F
3050 )))|(((
3051 7711
3052 )))|(((
3053 Bus voltage
3054 )))|(((
3055 V
3056 )))|(((
3057 16
3058 )))
3059 |(((
3060 U0-32
3061 )))|(((
3062 0x1E20
3063 )))|(((
3064 7712
3065 )))|(((
3066 Module temperature
3067 )))|(((
3068 ℃
3069 )))|(((
3070 16
3071 )))
3072 |(((
3073 U0-33
3074 )))|(((
3075 0x1E21
3076 )))|(((
3077 7713
3078 )))|(((
3079 Instantaneous output power
3080 )))|(((
3081 W
3082 )))|(((
3083 32
3084 )))
3085 |(((
3086 U0-35
3087 )))|(((
3088 0x1E23
3089 )))|(((
3090 7715
3091 )))|(((
3092 total power-on time: hour
3093 )))|(((
3094 h
3095 )))|(((
3096 32
3097 )))
3098 |(((
3099 U0-37
3100 )))|(((
3101 0x1E25
3102 )))|(((
3103 7717
3104 )))|(((
3105 total power-on time:min
3106 )))|(((
3107 min
3108 )))|(((
3109 16
3110 )))
3111 |(((
3112 U0-38
3113 )))|(((
3114 0x1E26
3115 )))|(((
3116 7718
3117 )))|(((
3118 total power-on time:sec
3119 )))|(((
3120 s
3121 )))|(((
3122 16
3123 )))
3124 |(((
3125 U0-39
3126 )))|(((
3127 0x1E27
3128 )))|(((
3129 7719
3130 )))|(((
3131 Output load percentage
3132 )))|(((
3133 %
3134 )))|(((
3135 16
3136 )))
3137 |(((
3138 U0-40
3139 )))|(((
3140 0x1E28
3141 )))|(((
3142 7720
3143 )))|(((
3144 Power-on time: hour
3145 )))|(((
3146 h
3147 )))|(((
3148 32
3149 )))
3150 |(((
3151 U0-42
3152 )))|(((
3153 0x1E2A
3154 )))|(((
3155 7722
3156 )))|(((
3157 Power-on time: min
3158 )))|(((
3159 min
3160 )))|(((
3161 16
3162 )))
3163 |(((
3164 U0-43
3165 )))|(((
3166 0x1E2B
3167 )))|(((
3168 7723
3169 )))|(((
3170 Power-on time: sec
3171 )))|(((
3172 s
3173 )))|(((
3174 16
3175 )))
3176 |(((
3177 U0-44
3178 )))|(((
3179 0x1E2C
3180 )))|(((
3181 7724
3182 )))|(((
3183 Instantaneous braking resistance power
3184 )))|(((
3185 W
3186 )))|(((
3187 32
3188 )))
3189 |(((
3190 U0-46
3191 )))|(((
3192 0x1E2E
3193 )))|(((
3194 7726
3195 )))|(((
3196 Average braking resistance power
3197 )))|(((
3198 W
3199 )))|(((
3200 32
3201 )))
3202 |(((
3203 U0-48
3204 )))|(((
3205 0x1E30
3206 )))|(((
3207 7728
3208 )))|(((
3209 Power-on times
3210 )))|(((
3211 Times
3212 )))|(((
3213 32
3214 )))
3215 |(((
3216 U0-50
3217 )))|(((
3218 0x1E32
3219 )))|(((
3220 7730
3221 )))|(((
3222 Motor cumulative turns (x1)
3223 )))|(((
3224 Revolution
3225 )))|(((
3226 16
3227 )))
3228 |(((
3229 U0-51
3230 )))|(((
3231 0x1E33
3232 )))|(((
3233 7731
3234 )))|(((
3235 Motor cumulative turns (x10e4)
3236 )))|(((
3237 Revolution
3238 )))|(((
3239 16
3240 )))
3241 |(((
3242 U0-52
3243 )))|(((
3244 0x1E34
3245 )))|(((
3246 7732
3247 )))|(((
3248 Motor cumulative turns (x10e8)
3249 )))|(((
3250 Revolution
3251 )))|(((
3252 16
3253 )))
3254 |(((
3255 U0-53
3256 )))|(((
3257 0x1E35
3258 )))|(((
3259 7733
3260 )))|(((
3261 Motor model code
3262 )))|(((
3263 -
3264 )))|(((
3265 16
3266 )))
3267 |(((
3268 U1-01
3269 )))|(((
3270 0x1F01
3271 )))|(((
3272 7937
3273 )))|(((
3274 Current fault code
3275 )))|(((
3276 -
3277 )))|(((
3278 16
3279 )))
3280 |(((
3281 U1-02
3282 )))|(((
3283 0x1F02
3284 )))|(((
3285 7938
3286 )))|(((
3287 Current alarm code
3288 )))|(((
3289 -
3290 )))|(((
3291 16
3292 )))
3293 |(((
3294 U1-03
3295 )))|(((
3296 0x1F03
3297 )))|(((
3298 7939
3299 )))|(((
3300 phase U current upon displayed fault
3301 )))|(((
3302 A
3303 )))|(((
3304 16
3305 )))
3306 |(((
3307 U1-04
3308 )))|(((
3309 0x1F04
3310 )))|(((
3311 7940
3312 )))|(((
3313 phase V current upon displayed fault
3314 )))|(((
3315 A
3316 )))|(((
3317 16
3318 )))
3319 |(((
3320 U1-05
3321 )))|(((
3322 0x1F05
3323 )))|(((
3324 7941
3325 )))|(((
3326 Bus voltage upon displayed fault
3327 )))|(((
3328 V
3329 )))|(((
3330 16
3331 )))
3332 |(((
3333 U1-06
3334 )))|(((
3335 0x1F06
3336 )))|(((
3337 7942
3338 )))|(((
3339 IGBT temperature upon displayed fault
3340 )))|(((
3341 ℃
3342 )))|(((
3343 16
3344 )))
3345 |(((
3346 U1-07
3347 )))|(((
3348 0x1F07
3349 )))|(((
3350 7943
3351 )))|(((
3352 Torque component when fault occured
3353 )))|(((
3354 %
3355 )))|(((
3356 16
3357 )))
3358 |(((
3359 U1-08
3360 )))|(((
3361 0x1F08
3362 )))|(((
3363 7944
3364 )))|(((
3365 Excitation component when fault occurred
3366 )))|(((
3367 %
3368 )))|(((
3369 16
3370 )))
3371 |(((
3372 U1-09
3373 )))|(((
3374 0x1F09
3375 )))|(((
3376 7945
3377 )))|(((
3378 Position deviation when fault occurred
3379 )))|(((
3380 Pul
3381 )))|(((
3382 32
3383 )))
3384 |(((
3385 U1-11
3386 )))|(((
3387 0x1F0B
3388 )))|(((
3389 7947
3390 )))|(((
3391 Speed value when fault occurred
3392 )))|(((
3393 rpm
3394 )))|(((
3395 16
3396 )))
3397 |(((
3398 U1-12
3399 )))|(((
3400 0x1F0C
3401 )))|(((
3402 7948
3403 )))|(((
3404 the time when fault occurred
3405 )))|(((
3406 s
3407 )))|(((
3408 32
3409 )))
3410 |(((
3411 U1-14
3412 )))|(((
3413 0x1F0E
3414 )))|(((
3415 7950
3416 )))|(((
3417 Number of faults
3418 )))|(((
3419 -
3420 )))|(((
3421 16
3422 )))
3423 |(((
3424 U1-15
3425 )))|(((
3426 0x1F0F
3427 )))|(((
3428 7951
3429 )))|(((
3430 Number of warnings
3431 )))|(((
3432 -
3433 )))|(((
3434 16
3435 )))
3436 |(((
3437 U1-16
3438 )))|(((
3439 0x1F10
3440 )))|(((
3441 7952
3442 )))|(((
3443 Total number of historical faults
3444 )))|(((
3445 -
3446 )))|(((
3447 16
3448 )))
3449 |(((
3450 U1-17
3451 )))|(((
3452 0x1F11
3453 )))|(((
3454 7953
3455 )))|(((
3456 Total number of historical alarm
3457 )))|(((
3458 -
3459 )))|(((
3460 16
3461 )))
3462 |(((
3463 U1-18
3464 )))|(((
3465 0x1F12
3466 )))|(((
3467 7954
3468 )))|(((
3469 Last 2nd fault code
3470 )))|(((
3471 -
3472 )))|(((
3473 16
3474 )))
3475 |(((
3476 U1-19
3477 )))|(((
3478 0x1F13
3479 )))|(((
3480 7955
3481 )))|(((
3482 Last 3rd fault code
3483 )))|(((
3484 -
3485 )))|(((
3486 16
3487 )))
3488 |(((
3489 U1-20
3490 )))|(((
3491 0x1F14
3492 )))|(((
3493 7956
3494 )))|(((
3495 Last 4th fault code
3496 )))|(((
3497 -
3498 )))|(((
3499 16
3500 )))
3501 |(((
3502 U1-21
3503 )))|(((
3504 0x1F15
3505 )))|(((
3506 7957
3507 )))|(((
3508 Last 5th fault code
3509 )))|(((
3510 -
3511 )))|(((
3512 16
3513 )))
3514 |(((
3515 U1-22
3516 )))|(((
3517 0x1F16
3518 )))|(((
3519 7958
3520 )))|(((
3521 Last 6th fault code
3522 )))|(((
3523 -
3524 )))|(((
3525 16
3526 )))
3527 |(((
3528 U1-23
3529 )))|(((
3530 0x1F17
3531 )))|(((
3532 7959
3533 )))|(((
3534 Last 2nd alarm code
3535 )))|(((
3536 -
3537 )))|(((
3538 16
3539 )))
3540 |(((
3541 U1-24
3542 )))|(((
3543 0x1F18
3544 )))|(((
3545 7960
3546 )))|(((
3547 Last 3rd alarm code
3548 )))|(((
3549 -
3550 )))|(((
3551 16
3552 )))
3553 |(((
3554 U1-25
3555 )))|(((
3556 0x1F19
3557 )))|(((
3558 7961
3559 )))|(((
3560 Last 4th alarm code
3561 )))|(((
3562 -
3563 )))|(((
3564 16
3565 )))
3566 |(((
3567 U1-26
3568 )))|(((
3569 0x1F1A
3570 )))|(((
3571 7962
3572 )))|(((
3573 Last 5th alarm code
3574 )))|(((
3575 -
3576 )))|(((
3577 16
3578 )))
3579 |(((
3580 U1-27
3581 )))|(((
3582 0x1F1B
3583 )))|(((
3584 7963
3585 )))|(((
3586 Last 6th alarm code
3587 )))|(((
3588 -
3589 )))|(((
3590 16
3591 )))
3592 |(((
3593 U2-01
3594 )))|(((
3595 0x2001
3596 )))|(((
3597 8193
3598 )))|(((
3599 Product series
3600 )))|(((
3601 -
3602 )))|(((
3603 16
3604 )))
3605 |(((
3606 U2-02
3607 )))|(((
3608 0x2002
3609 )))|(((
3610 8194
3611 )))|(((
3612 model
3613 )))|(((
3614 -
3615 )))|(((
3616 16
3617 )))
3618 |(((
3619 U2-03
3620 )))|(((
3621 0x2003
3622 )))|(((
3623 8195
3624 )))|(((
3625 Model
3626 )))|(((
3627 -
3628 )))|(((
3629 16
3630 )))
3631 |(((
3632 U2-04
3633 )))|(((
3634 0x2004
3635 )))|(((
3636 8196
3637 )))|(((
3638 Firmware version
3639 )))|(((
3640 -
3641 )))|(((
3642 16
3643 )))
3644 |(((
3645 U2-05
3646 )))|(((
3647 0x2005
3648 )))|(((
3649 8197
3650 )))|(((
3651 Hardware version
3652 )))|(((
3653 -
3654 )))|(((
3655 16
3656 )))
3657 |(((
3658 U2-06
3659 )))|(((
3660 0x2006
3661 )))|(((
3662 8198
3663 )))|(((
3664 date of manufacture:year
3665 )))|(((
3666 year
3667 )))|(((
3668 16
3669 )))
3670 |(((
3671 U2-07
3672 )))|(((
3673 0x2007
3674 )))|(((
3675 8199
3676 )))|(((
3677 date of manufacture:month
3678 )))|(((
3679 Month
3680 )))|(((
3681 16
3682 )))
3683 |(((
3684 U2-08
3685 )))|(((
3686 0x2008
3687 )))|(((
3688 8200
3689 )))|(((
3690 date of manufacture:day
3691 )))|(((
3692 day
3693 )))|(((
3694 16
3695 )))
3696 |(((
3697 U2-09
3698 )))|(((
3699 0x2009
3700 )))|(((
3701 8201
3702 )))|(((
3703 Device serial number 1
3704 )))|(((
3705 -
3706 )))|(((
3707 16
3708 )))
3709 |(((
3710 U2-10
3711 )))|(((
3712 0x200A
3713 )))|(((
3714 8202
3715 )))|(((
3716 Device serial number 2
3717 )))|(((
3718 -
3719 )))|(((
3720 16
3721 )))
3722 |(((
3723 U2-11
3724 )))|(((
3725 0x200B
3726 )))|(((
3727 8203
3728 )))|(((
3729 Device serial number 3
3730 )))|(((
3731 -
3732 )))|(((
3733 16
3734 )))
3735 |(((
3736 U2-12
3737 )))|(((
3738 0x200C
3739 )))|(((
3740 8204
3741 )))|(((
3742 Device serial number 4
3743 )))|(((
3744 -
3745 )))|(((
3746 16
3747 )))
3748 |(((
3749 U2-13
3750 )))|(((
3751 0x200D
3752 )))|(((
3753 8205
3754 )))|(((
3755 Device serial number 5
3756 )))|(((
3757 -
3758 )))|(((
3759 16
3760 )))
3761 |(((
3762 U2-14
3763 )))|(((
3764 0x200E
3765 )))|(((
3766 8206
3767 )))|(((
3768 Device serial number 6
3769 )))|(((
3770 -
3771 )))|(((
3772 16
3773 )))
3774 |(((
3775 U2-15
3776 )))|(((
3777 0x200F
3778 )))|(((
3779 8207
3780 )))|(((
3781 Device serial number 7
3782 )))|(((
3783 -
3784 )))|(((
3785 16
3786 )))
3787 |(((
3788 U2-16
3789 )))|(((
3790 0x2010
3791 )))|(((
3792 8208
3793 )))|(((
3794 Device serial number 8
3795 )))|(((
3796 -
3797 )))|(((
3798 16
3799 )))