P0-1

0x0001

1

Contral mode

-

16

P0-4

0x0004

4

Rotation direction

-

16

P0-5

0x0005

5

Servo stop mode at S-ON off

-

16

P0-9

0x0009

9

Regenerative resistor setting

-

16

P0-10

0x000A

10

External regenerative resistor resistance

Ω

16

P0-11

0x000B

11

External regenerative resistor power

W

16

P0-12

0x000C

12

Position pulse type selection

-

16

P0-13

0x000D

13

Position pulse frequency

kHz

16

P0-14

0x000E

14

Position pulse anti-interference level

-

16

P0-16

0x0010

16

Number of pulses per revolution of the motor

Pul

16

P0-17

0x0011

17

Electronic gear 1 numerator

-

16

P0-18

0x0012

18

Electronic gear 1 denominator

-

16

P0-19

0x0013

19

Electronic gear 2 numerator

-

16

P0-20

0x0014

20

Electronic gear 2 denominator

-

16

P0-21

0x0015

21

Pulse frequency division output direction

-

16

P0-22

0x0016

22

Number of output pulses per revolution of the motor

Pul

16

P0-23

0x0017

23

OZ polarity of Z pulse output

-

16

P0-25

0x0019

25

Position deviation limit

Pul

16

P1-1

0x0101

257

Speed reference source

-

16

P1-2

0x0102

258

Internal speed command

rpm

16

P1-3

0x0103

259

Acc. time

ms

16

P1-4

0x0104

260

Dec. time

ms

16

P1-7

0x0107

263

Torque reference source

-

16

P1-8

0x0108

264

Keypad setting value of torque reference

0.1%

16

P1-9

0x0109

265

Source of Speed Limit in Torque Mode

-

16

P1-10

0x010A

266

Maximum speed threshold

rpm

16

P1-11

0x010B

267

Warning speed threshold

rpm

16

P1-12

0x010C

268

Forward speed threshold

rpm

16

P1-13

0x010D

269

Backward speed threshold

rpm

16

P1-14

0x010E

270

Torque limit source

-

16

P1-15

0x010F

271

Forward rotation torque limit

0.1%

16

P1-16

0x0110

272

Backward rotation torque limit

0.1%

16

P1-19

0x0113

275

Torque saturation timeout

ms

16

P1-21

0x0115

277

Zero speed clamp function selection

rpm

16

P1-22

0x0116

278

Zero speed clamp speed threshold

rpm

16

P2-1

0x0201

513

1st position loop gain

0.1Hz

16

P2-2

0x0202

514

1st speed loop gain

0.1Hz

16

P2-3

0x0203

515

1st speed loop integration time constant

0.1ms

16

P2-4

0x0204

516

2nd position loop gain

0.1Hz

16

P2-5

0x0205

517

2nd speed loop gain

0.1Hz

16

P2-6

0x0206

518

2nd speed loop integration time constant

0.1ms

16

P2-7

0x0207

519

Second gain switching mode

-

16

P2-9

0x0209

521

Speed feedforward gain

0.1%

16

P2-10

0x020A

522

Speed feedforward filter

0.01ms

16

P2-11

0x020B

523

Torque feedforward gain

0.1%

16

P2-12

0x020C

524

Torque feedforward filter

0.01ms

16

P3-1

0x0301

769

Load inertia ratio

0.01

16

P3-2

0x0302

770

Load level rigidity selection

-

16

P3-3

0x0303

771

Auto-tuning mode selection

-

16

P3-4

0x0304

772

Online inertia identification sensitivity

-

16

P3-5

0x0305

773

Number of inertia identification cycles

Revolution

16

P3-6

0x0306

774

Maximum speed of inertia identification

rpm

16

P3-7

0x0307

775

Parameter identification rotation direction

-

16

P3-8

0x0308

776

Parameter identification waiting time

ms

16

P4-1

0x0401

1025

Pulse reference filtering method

-

16

P4-2

0x0402

1026

Position reference first-order low-pass filter

ms

16

P4-3

0x0403

1027

Position reference average filter time constant

ms

16

P4-4

0x0404

1028

Torque filter time constant

0.01

16

P4-5

0x0405

1029

1st notch frequency

Hz

16

P4-6

0x0406

1030

1st notch depth

-

16

P4-7

0x0407

1031

1st notch width

-

16

P4-8

0x0408

1032

2nd notch frequency

Hz

16

P4-9

0x0409

1033

2nd notch depth

-

16

P4-10

0x040A

1034

2nd notch width

-

16

P5-1

0x0501

1281

AI_1 input bias

mV

16

P5-2

0x0502

1282

AI_1 input filter constant

0.01ms

16

P5-3

0x0503

1283

AI_1 dead zone

mV

16

P5-4

0x0504

1284

AI_1 zero shift

mV

16

P5-5

0x0505

1285

AI_2 input bias

mV

16

P5-6

0x0506

1286

AI_2 input filter constant

0.01ms

16

P5-7

0x0507

1287

AI_2 dead zone

mV

16

P5-8

0x0508

1288

AI_2 zero shift

mV

16

P5-9

0x0509

1289

the speed value corresponding to analog 10V

rpm

16

P5-10

0x050A

1290

the torque value corresponding to analog 10V

0.1%

16

P5-11

0x050B

1291

Positioning complete, positioning approach condition setting

-

16

P5-12

0x050C

1292

Positioning completion threshold

Pul

16

P5-13

0x050D

1293

Positioning approach threshold

Pul

16

P5-14

0x050E

1294

Set the positioning completion detection time window

ms

16

P5-15

0x050F

1295

Set the hold time of positioning completion output

ms

16

P5-16

0x0510

1296

Rotation speed detection threshold

rpm

16

P5-17

0x0511

1297

Speed consistent signal threshold

rpm

16

P5-18

0x0512

1298

Speed approaching signal threshold

rpm

16

P5-19

0x0513

1299

Zero speed output signal threshold

rpm

16

P5-20

0x0514

1300

Torque reached threshold

%

16

P5-21

0x0515

1301

Torque reached hysteresis

%

16

P6-01

0x0601

1537

High-speed DI port filtering time

1us

16

P6-02

0x0602

1538

DI_1 Channel function selection

-

16

P6-03

0x0603

1539

DI_1 Channel logic selection

-

16

P6-04

0x0604

1540

DI_1 Input source selection

-

16

P6-05

0x0605

1541

DI_2 Channel function selection

-

16

P6-06

0x0606

1542

DI_2 Channel logic selection

-

16

P6-07

0x0607

1543

DI_2 Input source selection

-

16

P6-08

0x0608

1544

DI_3 Channel function selection

-

16

P6-09

0x0609

1545

DI_3 Channel logic selection

-

16

P6-10

0x060A

1546

DI_3 Input source selection

-

16

P6-11

0x060B

1547

DI_4 Channel function selection

-

16

P6-12

0x060C

1548

DI_4 Channel logic selection

-

16

P6-13

0x060D

1549

DI_4 Input source selection

-

16

P6-14

0x060E

1550

DI_5 Channel function selection

-

16

P6-15

0x060F

1551

DI_5 Channel logic selection

-

16

P6-16

0x0610

1552

DI_5 Input source selection

-

16

P6-17

0x0611

1553

DI_6 Channel function selection

-

16

P6-18

0x0612

1554

DI_6 Channel logic selection

-

16

P6-19

0x0613

1555

DI_6 Input source selection

-

16

P6-20

0x0614

1556

DI_7 Channel function selection

-

16

P6-21

0x0615

1557

DI_7 Channel logic selection

-

16

P6-22

0x0616

1558

DI_7 Input source selection

-

16

P6-23

0x0617

1559

DI_8 Channel function selection

-

16

P6-24

0x0618

1560

DI_8 Channel logic selection

-

16

P6-25

0x0619

1561

DI_8 Input source selection

-

16

P6-26

0x061A

1562

DO_1 Channel function selection

-

16

P6-27

0x061B

1563

DO_1 Channel logic selection

-

16

P6-28

0x061C

1564

DO_2 Channel function selection

-

16

P6-29

0x061D

1565

DO_2 Channel logic selection

-

16

P6-30

0x061E

1566

DO_3 Channel function selection

-

16

P6-31

0x061F

1567

DO_3 Channel logic selection

-

16

P6-32

0x0620

1568

DO_4 Channel function selection

-

16

P6-33

0x0621

1569

DO_4 Channel logic selection

-

16

P10-1

0x0A01

2561

JOG sped

rpm

16

P10-2

0x0A02

2562

Restore factory setting

-

16

P10-4

0x0A04

2564

Motor overload protection time coefficient

%

16

P12-1

0x0C01

3073

Servo station number

-

16

P12-2

0x0C02

3074

baudrate

-

16

P12-3

0x0C03

3075

Serial data format

-

16

P12-4

0x0C04

3076

Write modbus communication data to EEPROM

-

16

P13-1

0x0D01

3329

VDI_1 input value

-

16

P13-2

0x0D02

3330

VDI_2 input value

-

16

P13-3

0x0D03

3331

VDI_3 input value

-

16

P13-4

0x0D04

3332

VDI_4 input value

-

16

P13-5

0x0D05

3333

VDI_5 input value

-

16

P13-6

0x0D06

3334

VDI_6 input value

-

16

P13-7

0x0D07

3335

VDI_7 input value

-

16

P13-8

0x0D08

3336

VDI_8 input value

-

16

U0-01

0x1E01

7681

Servo state

-

16

U0-02

0x1E02

7682

Servo motor speed

rpm

16

U0-03

0x1E03

7683

Enter speed command

rpm

16

U0-04

0x1E04

7684

Speed corresponding to input position reference

rpm

16

U0-05

0x1E05

7685

Pulse deviation

Pul

32

U0-07

0x1E07

7687

Pulse deviation *10000

Pul

32

U0-09

0x1E09

7689

input pulse number

Pul

32

U0-11

0x1E0B

7691

input pulse number *10000

Pul

32

U0-13

0x1E0D

7693

Encoder accumulative position

Pul

32

U0-15

0x1E0F

7695

Encoder accumulative position *10000

Pul

32

U0-17

0x1E11

7697

DI input signal state

-

32

U0-19

0x1E13

7699

DO output signal state

-

32

U0-21

0x1E15

7701

AI1 input voltage value

V

16

U0-22

0x1E16

7702

AI2 input voltage value

V

16

U0-23

0x1E17

7703

vibration frequency

Hz

16

U0-24

0x1E18

7704

Vibration amplitude

rpm

16

U0-25

0x1E19

7705

forward torque limitation

%

16

U0-26

0x1E1A

7706

backward torque limitation

%

16

U0-27

0x1E1B

7707

forward speed limitation

rpm

16

U0-28

0x1E1C

7708

backward speed limitation

rpm

16

U0-29

0x1E1D

7709

Mechanical angle

°

16

U0-30

0x1E1E

7710

Electric angle

°

16

U0-31

0x1E1F

7711

Bus voltage

V

16

U0-32

0x1E20

7712

Module temperature

℃

16

U0-33

0x1E21

7713

Instantaneous output power

W

32

U0-35

0x1E23

7715

total power-on time: hour

h

32

U0-37

0x1E25

7717

total power-on time:min

min

16

U0-38

0x1E26

7718

total power-on time:sec

s

16

U0-39

0x1E27

7719

Output load percentage

%

16

U0-40

0x1E28

7720

Power-on time: hour

h

32

U0-42

0x1E2A

7722

Power-on time: min

min

16

U0-43

0x1E2B

7723

Power-on time: sec

s

16

U0-44

0x1E2C

7724

Instantaneous braking resistance power

W

32

U0-46

0x1E2E

7726

Average braking resistance power

W

32

U0-48

0x1E30

7728

Power-on times

Times

32

U0-50

0x1E32

7730

Motor cumulative turns (x1)

Revolution

16

U0-51

0x1E33

7731

Motor cumulative turns (x10e4)

Revolution

16

U0-52

0x1E34

7732

Motor cumulative turns (x10e8)

Revolution

16

U0-53

0x1E35

7733

Motor model code

-

16

U1-01

0x1F01

7937

Current fault code

-

16

U1-02

0x1F02

7938

Current alarm code

-

16

U1-03

0x1F03

7939

phase U current upon displayed fault

A

16

U1-04

0x1F04

7940

phase V current upon displayed fault

A

16

U1-05

0x1F05

7941

Bus voltage upon displayed fault

V

16

U1-06

0x1F06

7942

IGBT temperature upon displayed fault

℃

16

U1-07

0x1F07

7943

Torque component when fault occured

%

16

U1-08

0x1F08

7944

Excitation component when fault occurred

%

16

U1-09

0x1F09

7945

Position deviation when fault occurred

Pul

32

U1-11

0x1F0B

7947

Speed value when fault occurred

rpm

16

U1-12

0x1F0C

7948

the time when fault occurred

s

32

U1-14

0x1F0E

7950

Number of faults

-

16

U1-15

0x1F0F

7951

Number of warnings

-

16

U1-16

0x1F10

7952

Total number of historical faults

-

16

U1-17

0x1F11

7953

Total number of historical alarm

-

16

U1-18

0x1F12

7954

Last 2nd fault code

-

16

U1-19

0x1F13

7955

Last 3rd fault code

-

16

U1-20

0x1F14

7956

Last 4th fault code

-

16

U1-21

0x1F15

7957

Last 5th fault code

-

16

U1-22

0x1F16

7958

Last 6th fault code

-

16

U1-23

0x1F17

7959

Last 2nd alarm code

-

16

U1-24

0x1F18

7960

Last 3rd alarm code

-

16

U1-25

0x1F19

7961

Last 4th alarm code

-

16

U1-26

0x1F1A

7962

Last 5th alarm code

-

16

U1-27

0x1F1B

7963

Last 6th alarm code

-

16

U2-01

0x2001

8193

Product series

-

16

U2-02

0x2002

8194

model

-

16

U2-03

0x2003

8195

Model

-

16

U2-04

0x2004

8196

Firmware version

-

16

U2-05

0x2005

8197

Hardware version

-

16

U2-06

0x2006

8198

date of manufacture:year

year

16

U2-07

0x2007

8199

date of manufacture:month

Month

16

U2-08

0x2008

8200

date of manufacture:day

day

16

U2-09

0x2009

8201

Device serial number 1

-

16

U2-10

0x200A

8202

Device serial number 2

-

16

U2-11

0x200B

8203

Device serial number 3

-

16

U2-12

0x200C

8204

Device serial number 4

-

16

U2-13

0x200D

8205

Device serial number 5

-

16

U2-14

0x200E

8206

Device serial number 6

-

16

U2-15

0x200F

8207

Device serial number 7

-

16

U2-16

0x2010

8208

Device serial number 8

-

16