1

Basic setting

P0

P0-1- P0-25

2

Control parameter

P1

P1-1- P1-25

3

Gain adjustment

P2

P2-1- P2-25

4

Self-tuning parameters

P3

P3-1- P3-25

5

Vibration inhibitation

P4

P4-1- P4-25

6

IO signal

P5

P5-1- P5-25

7

DI/DO configuration

P6

P6-1- P6-25

8

auxiliary function

P10

P10-1- P10-25

9

communication parameter

P12

P12-1- P12-25

10

Virtual input terminal

P13

P13-1- P13-25

11

Monitoring display

U0

U0-1-U0-53

12

Alarm display

U1

U1-1-U1-27

13

Device information

U2

U2-1-U2-16

P0-1

Control mode

○

1

1-3

1: Position control mode

2: Speed control mode

3: Torque control mode

—

—

P0-4

Rotation direction

○

0

0-1

Forward rotation: facing the motor shaft

0: Standard setting (CW is forward rotation)

1: Reverse mode (CCW is forward rotation)

—

—

P0-5

Servo stop method

●

0

0-1

0: Free stop, motor shaft remains free.

1: Zero speed stop, motor shaft remains free.

—

—

P0-9

Regenerative resistor setting

●

0

0-3

0: Use built-in regenerative resistor.

1: Use external regenerative resistor and cool naturally.

2: Use external regenerative resistor and forced air cooling. (Not settable)

3: No regenerative resistor is used, it's all absorbed by the capacitor. (Not settable)

—

—

P0-10

External regenerative resistor resistance

●

50

0-65535

Used to set the external regenerative resistor resistance of a certain type of driver.

Ω

—

P0-11

Power of external regenerative resistor

●

100

0-65535

Used to set the power of the external regenerative resistor of a certain type of driver.

W

—

P0-12

pulse type selection

○

0

0-2

0: direction+pulse(Positive logic)

1: CW/CCW

2: A, B phase quadrature pulse (4 times frequency)

—

P

P0-13

Pulse frequency

○

300

1-500

Set the maximum pulse frequency KHz

kHz

P

P0-14

pulse anti-interference level

○

2

1-3

Set the pulse anti-interference level.

1: low anti-interference level. (0.1)

2: Medium (0.25)

3: high (0.4)

—

P

P0-16

pulse number per revolution

○

10000

0-10000

Set the pulse number of per rotation

Only when P0-16=0 then P0-17,P0-18,P0-19,P0-20 would take effect

Pul

P

P0-17

Electronic gear 1 numerator

▲

1

1-32767

Set the numerator of the first group electronic gear ratio.

It is valid when P0-16=0

—

P

P0-18

Electronic gear 1 denominator

▲

1

1-32767

Set the denominator of the first group electronic gear ratio.

It is valid when P0-16=0

—

P

P0-19

Electronic gear 2 numerator

▲

1

1-32767

Set the numerator of the first group electronic gear ratio.

It is valid when P0-16=0

—

P

P0-20

Electronic gear 2 denominator

▲

1

1-32767

Set the denominator of the first group electronic gear ratio.

It is valid when P0-16=0

—

P

P0-21

frequency-dividing output direction

○

0

0-1

Quadrature pulse output.

0: When the motor rotation direction is CW, A advances B

1: When the motor rotation direction is CCW, B advances A

—

P

P0-22

Encoder ppr

○

2500

0~2500

 Each rotation of the motor, phase A and phase B can each output up to 2500 pulses, and the control device receiver device needs to support 4 times frequency analysis to get 10000 pulses.

Pul

P

P0-23

Z pulse output

OZ polarity

○

0

0-1

0-Z Active when pulse is high

1-Z Active when pulse is low

—

P

P0-25

Position deviation limitation

○

60000

0-65535

0: Ignore position deviation fault. Other values: Position deviation exceeds this setting range and report position [Er. 36] Excessive deviation fault

Pul

P

P1-1

Speed command source

●

0

0-1

0: Internal speed command (set in P1-3).

1: AI_1 analog input.

-

S

P1-2

Internal speed command

▲

100

-3000-3000

Internal speed command

rpm

S

P1-3

Acc. time

▲

50

0-65535

Acceleration time from 0 to 1000rpm in speed command mode

ms

S

P1-4

Dec. time

▲

50

0-65535

Deceleration time from 1000 to 0 rpm in speed command mode

ms

S

P1-7

Torque command source

●

0

0-1

0: Internal torque command.

1: AI_1 analog input.

-

T

P1-8

Torque command keyboard set value

▲

0

-3000-3000

-300.0%-300.0%

0.1%

T

P1-9

Source of speed Limit in torque mode

●

0

0-1

0: Internal forward and reverse limit

1: AI_2 analog input

-

T

P1-10

Max speed threshold

▲

3600

0-5000

Set the maximum speed limit value. If it exceeds this value, an overspeed fault is reported.

rpm

A

P1-11

Warning speed threshold

▲

3300

0-4500

Set the alarm speed threshold. If this value is exceeded, an overspeed warning would be reported.

rpm

A

P1-12

Forward speed threshold

▲

3000

0-3000

Set forward speed limit

rpm

A

P1-13

Reverse speed threshold

▲

3000

0-3000

Set reverse speed limit

rpm

A

P1-14

Torque limit source

●

0

0-1

0: Internal value

1: AI_2 analog input

-

A

P1-15

Forward rotation torque limit

▲

3000

0-3000

When [P1-14] selects internal torque limit, this function code value is used as the forward torque limit value

0.1%

A

P1-16

Reverse torque limit

▲

3000

0-3000

When [P1-14] selects internal torque limit, this function code value is used as the reverse torque limit value

0.1%

A

P1-19

Torque saturation timeout

▲

1000

0-65535

When the torque is limited by the setting value of [P-15] or [P-16] and exceeds this set time, the driver reports a "torque saturation abnormal" fault.

Note: When the value of this function code is set to 0, no torque saturation timeout fault detection is performed, and this fault is ignored.

ms

A

P1-21

Zero speed clamp function selection

▲

0

0-3

Set the zero speed clamp function. In speed mode:

0: Force speed to 0.

1: Force the speed to 0, and keep the position locked when the actual speed is less than [P1.22].

2: When the speed reference is less than [P1-22], force the speed to 0 and keep the position locked.

3: Invalid, ignore the zero speed clamp input.

rpm

S

P1-22

Speed threshold for zero

▲

20

0-1000

Set the speed threshold of the zero speed clamp function

rpm

S

P2-1

1st position loop gain

▲

400

0-6200

Set the position loop gain to determine the responsiveness of the position control system.

0.1Hz

P2-2

1st speed loop gain

▲

65

0-35000

Set the speed loop gain to determine the response of the speed loop.

0.1Hz

P2-3

1st speed loop integration time constant

▲

1000

100-65535

Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.

0.1ms

P2-4

2nd position loop gain

▲

35

0-6200

Set the position loop gain to determine the responsiveness of the position control system.

0.1Hz

P2-5

2nd speed loop gain

▲

65

0-35000

Set the speed loop gain to determine the response of the speed loop.

0.1Hz

P2-6

2nd speed loop integration time constant

▲

1000

0-65535

Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.

0.1ms

P2-7

Second gain switching mode

▲

0

0-3

0: DI terminal. 1: Speed command change rate is too large. 2: Position deviation is large. 3: Reserved

-

P2-9

Speed feedforward gain

▲

0

0-1000

0.0%-100.0%

0.1%

P2-10

Speed feedforward filter

▲

50

0-10000

Set the time constant of the primary delay filter related to the speed feedforward input

0.01ms

P2-11

Torque feedforward gain

▲

0

0-2000

0.0%-200.0%

0.1%

P2-12

Torque feedforward filter

▲

50

0-10000

Set the time constant of the primary delay filter associated with the torque feedforward input.

0.01ms

P3-1

Load inertia ratio

▲

500

0-10000

Set load inertia ratio, 0.00 - 100.00 times

0.01

P3-2

rigidity selection for load level

▲

12

0-31

Selection of rigidity

-

P3-3

Auto-tuning mode selection

▲

0

0-2

0: Rigidity level auto-tuning mode. according to the rigidity level setting, position loop gain, speed loop gain, speed loop integration time constant, and torque filter parameter settings are automatically

1: Manual setting. users need to manually set the position loop gain, speed loop gain, speed loop integration time constant, and torque filter parameter settings. adjusted.

2: Online automatic parameter auto-tuning mode (not implemented yet).

-

P3-4

Online inertia identification sensitivity

▲

0

0-2

0:slow change (not implemented yet)

1: General changes (not implemented yet)

2: Fast change (not implemented yet)

-

P3-5

Number of inertia identification cycles

●

2

1-2

Offline load inertia identification process, motor rotation number setting

revolution

P3-6

Maximum speed of inertia identification

●

1000

300-2000

Set the maximum allowed motor speed command in offline inertia identification mode.

The greater the speed of inertia identification, the more accurate the identification result, usually keep the default value.

rpm

P3-7

rotation direction parameter

●

0

0-2

0: forward and backward rotation

1: forward-forward one-way rotation

2: backward-backward one-way rotation

-

P3-8

Parameter identification waiting time

●

1000

300-10000

Time interval between two consecutive speed commands during offline inertia recognition

ms

P4-1

Pulse command filtering mode

●

0

0-1

0: first-order low-pass filtering

1: average filter

-

P

P4-2

Position command first-order low-pass filter

●

20

0-1000

For pulse command input filtering

ms

P

P4-3

Position command average filtering time constant

●

20

0-128

For pulse command input filtering

ms

P

P4-4

Torque filter time constant

▲

50

10-2500

When [Auto-tuning mode] is set as 1, or 2, this parameter is set automatically

0.01

P4-5

First notch frequency

▲

300

250-5000

Set the center frequency of the 1st notch filter.

When the setting value is 5000, the function of the notch filter is disabled.

Hz

P4-6

First notch depth level

▲

100

0-100

0: all blocked

100: all passed

-

P4-7

First notch width level

▲

4

0-12

0: 0.5 x bandwidth

4: 1x bandwidth

8: 2 times the bandwidth

12: 4 times the bandwidth

-

P4-8

Second notch frequency

▲

500

250-5000

Set the center frequency of the second notch filter. When the setting value is 5000, the function of the notch filter is disabled.

Hz

P4-9

Second notch depth level

▲

100

0-100

0: all blocked

100: all passed

-

P4-10

Second notch width level

▲

4

0-12

0: 0.5 x the bandwidth

4: 1x bandwidth

8: 2 times the bandwidth

12: 4 times the bandwidth

-

P5-1

AI_1 input bias

▲

0

-5000-5000

Set AI_1 channel analog offset value

mV

P5-2

AI_1 Input filter constant

▲

200

0-60000

AI_1 channel input first-order low-pass filtering time constant

0.01 ms

P5-3

AI_1 dead zone

▲

20

0-1000

Set AI_1 channel analog dead zone value

mV

P5-4

AI_1 zero drift

▲

0

-500-500

Automatic calibration zero drift inside the driver.

mV

P5-5

AI_2 input bias

▲

0

-5000-5000

Set AI_2 channel analog offset value

mV

P5-6

AI_2 Input filter constant

▲

200

0-60000

AI_2 channel input first-order low-pass filtering time constant

0.01 ms

P5-7

AI_2 dead zone

▲

20

0-500

Set AI_1 channel analog dead zone value

mV

P5-8

AI_2 zero drift

▲

0

-500-500

Automatic calibration zero drift value inside the driver

mV

P5-9

Analog 10V for speed value

●

3000

1000-4500

Set the speed value corresponding to analog 10V

rpm

P5-10

Analog 10V for torque value

●

1000

0-3000

Set the torque value corresponding to analog 10V

0.1%

P5-11

Positioning completed, positioning near setting

▲

0

0-3

Output signal judging conditions for positioning completed and positioning near

0: The output is valid when the absolute value of the position deviation is less than the positioning completion threshold / location near threshold.

1: The absolute value of the position deviation is less than the positioning completion threshold / positioning near threshold, and the input position command is 0 then the output is valid

2: The absolute value of the position deviation is smaller than the positioning completion threshold / positioning approach threshold, and the input position command filter value is 0 then the output is valid

3: The absolute value of the position deviation is less than the positioning completion threshold / positioning approach threshold, the input position command filter value is 0, and the positioning detection time window is continued then the output is valid

-

P

P5-12

Positioning completed threshold

▲

800

1-65535

Positioning completion threshold

Pul

P

P5-13

Positioning approach threshold

▲

5000

1-65535

Positioning near threshold

Pul

P

P5-14

Positioning detection time window

▲

10

0-20000

Set the positioning completion detection time window

ms

P

P5-15

Positioning signal hold time

▲

100

0-20000

Set the hold time of positioning completion output

ms

P

P5-16

Rotation detection speed threshold

▲

20

0-1000

Set motor rotation signal judgment threshold

rpm

S

P5-17

Speed consistent signal threshold

▲

10

0-100

Set the speed consistent signal threshold

rpm

S

P5-18

Speed approaching signal threshold

▲

100

10-6000

Set speed approach signal threshold

rpm

S

P5-19

Zero speed output signal threshold

▲

10

0-6000

Set the zero-speed output signal judgment threshold

rpm

S

P5-20

Torque reached threshold

▲

100

0-300

The torque reached threshold needs to be used in conjunction with [torque reached hysteresis value]:

When the actual torque reaches [torque reached threshold] + [torque reaches hysteresis], the torque reached DO becomes effective.

When the actual torque decreases below [Torque reached threshold] + [Torque reached hysteresis], the torque reached DO becomes invalid.

%

T

P5-21

Torque reached hysteresis

▲

10

10-20

[Torque reached hysteresis value] Need to be used together with [Torque reached threshold]

%

T

P6-01

High-speed DI port filtering time

○

50

0-10000

Filter time for high-speed ports DI7 and DI8

1us

P6-02

DI_1 function selection

△

1

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13: INSPD1, Internal speed command selection 1(not implemented yet)

14: INSPD2, Internal speed command selection 2(not implemented yet)

15: INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-03

DI_1 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-04

DI_1 input source selection

▲

0

0-1

0: Hardware DI1

1: VDI1

-

P6-05

DI_2 function selection

△

2

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13: INSPD1, Internal speed command selection 1(not implemented yet)

14: INSPD2, Internal speed command selection 2(not implemented yet)

15: INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-06

DI_2 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-07

DI_2 input source selection

▲

0

0-1

0: Hardware DI2

1: VDI2

-

P6-08

DI_3 function selection

△

3

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13: INSPD1, Internal speed command selection 1(not implemented yet)

14: INSPD2, Internal speed command selection 2(not implemented yet)

15: INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-09

DI_3 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-10

DI_3 input source selection

▲

0

0-1

0: Hardware DI3

1: VDI3

-

P6-11

DI_4 function selection

△

4

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13: INSPD1, Internal speed command selection 1(not implemented yet)

14: INSPD2, Internal speed command selection 2(not implemented yet)

15: INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-12

DI_4 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-13

DI_4 input source selection

▲

0

0-1

0: Hardware DI4

1: VDI4

-

P6-14

DI_5 function selection

△

7

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13:INSPD1, Internal speed command selection 1(not implemented yet)

14:INSPD2, Internal speed command selection 2(not implemented yet)

15:INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-15

DI_5 logic selection

△

0

0-1

DI port input logic validity function selection.

0:Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-16

DI_5 input source selection

▲

0

0-1

0: Hardware DI5

1: VDI5

-

P6-17

DI_6 function selection

△

11

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13:INSPD1, Internal speed command selection 1(not implemented yet)

14:INSPD2, Internal speed command selection 2(not implemented yet)

15:INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-18

DI_6 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-19

DI_6 input source selection

▲

0

0-1

0: Hardware DI6

1: VDI6

-

P6-20

DI_7 function selection

△

-

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13: INSPD1, Internal speed command selection 1(not implemented yet)

14: INSPD2, Internal speed command selection 2(not implemented yet)

15: INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-21

DI_7 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-22

DI_7 input source selection

▲

0

0-1

0: Hardware DI7

1: VDI7

-

P6-23

DI_8 function selection

△

-

0-16

1: SON, Servo ON

2: A-CLR, Fault and warning clear

3: POT, Forward limit switch

4: NOT, Reverse limit switch

5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation

7: C-SIGN, Instruction negation

8: E-STOP, Emergency stop

9: GEAR-SEL, Electronic gear switching 1

10: GAIN-SEL, Gain switch

11: INH, Position reference inhibited

12: VSSEL, Damer control switch(not implemented yet)

13: INSPD1, Internal speed command selection 1(not implemented yet)

14: INSPD2, Internal speed command selection 2(not implemented yet)

15: INSPD3, Internal speed command selection 3(not implemented yet)

16: J-SEL, Inertia ratio switch(not implemented yet)

-

P6-24

DI_8 logic selection

△

0

0-1

DI port input logic validity function selection.

0: Normal open input. Active when off (switch closed).

1: Normal closed input. Active when on (switch open).

-

P6-25

DI_8 input source selection

▲

0

0-1

0: Hardware DI8

1: VDI8

-

P6-26

DO_1 function selection

△

132

128~142

129-RDY Servo Ready

130-ALM Alarm

131-WARN Warning

132-TGON Motor rotation output

133-ZSP Zero speed signal

134-P-COIN Positioning completed

135-P-NEAR Positioning near

136-V-COIN Speed consistent

137-V-NEAR Speed near

138-T-COIN Torque reached

139-T-LIMIT Torque limit

140-V-LIMIT Speed limit

141-BRK-OFF Solenoid brake

(not implemented yet)

142-SRV-ST Enable Servo status output

-

P6-27

DO_1 logic selection

△

0

0~1

Output logic function selection. ★

1. Set to 0:

When the signal is valid, the output transistor is on.

When the signal is invalid, the output transistor is off.

2. Set to 1:

When the signal is valid, the output transistor is off.

When the signal is invalid, the output transistor is on.

-

P6-28

DO_2 function selection

△

130

128~142

129-RDY Servo Ready

130-ALM Alarm

131-WARN Warning

132-TGON Motor rotation output

133-ZSP Zero speed signal

134-P-COIN Positioning completed

135-P-NEAR Positioning near

136-V-COIN Speed consistent

137-V-NEAR Speed near

138-T-COIN Torque reached

139-T-LIMIT Torque limit

140-V-LIMIT Speed limit

141-BRK-OFF Solenoid brake

(not implemented yet)

142-SRV-ST Enable Servo status output

-

P6-29

DO_2 logic selection

△

0

0~1

Output logic function selection. ★

1. Set to 0:

When the signal is valid, the output transistor is on.

When the signal is invalid, the output transistor is off.

2. Set to 1:

When the signal is valid, the output transistor is off.

When the signal is invalid, the output transistor is on.

-

P6-30

DO_3 function selection

△

129

128~142

129-RDY Servo Ready

130-ALM Alarm

131-WARN Warning

132-TGON Motor rotation output

133-ZSP Zero speed signal

134-P-COIN Positioning completed

135-P-NEAR Positioning near

136-V-COIN Speed consistent

137-V-NEAR Speed near

138-T-COIN Torque reached

139-T-LIMIT Torque limit

140-V-LIMIT Speed limit

141-BRK-OFF Solenoid brake

(not implemented yet)

142-SRV-ST Enable Servo status output

-

P6-31

DO_3 logic selection

△

0

0~1

Output logic function selection. ★

1. Set to 0:

When the signal is valid, the output transistor is on.

When the signal is invalid, the output transistor is off.

2. Set to 1:

When the signal is valid, the output transistor is off.

When the signal is invalid, the output transistor is on.

-

P6-32

DO_4 function selection

△

134

128~142

129-RDY Servo Ready

130-ALM Alarm

131-WARN Warning

132-TGON Motor rotation output

133-ZSP Zero speed signal

134-P-COIN Positioning completed

135-P-NEAR Positioning near

136-V-COIN Speed consistent

137-V-NEAR Speed near

138-T-COIN Torque reached

139-T-LIMIT Torque limit

140-V-LIMIT Speed limit

141-BRK-OFF Solenoid brake

(not implemented yet)

142-SRV-ST Enable Servo status output

-

P6-33

DO_4 logic selection

△

0

0~1

Output logic function selection. ★

1. Set to 0:

When the signal is valid, the output transistor is on.

When the signal is invalid, the output transistor is off.

2. Set to 1:

When the signal is valid, the output transistor is off.

When the signal is invalid, the output transistor is on.

-

P10-1

JOG speed

▲

100

0-3000

JOG speed

rpm

P10-2

Restore factory setting

●

0

0-1

Write 1 to restore setting

-

P10-4

Motor overload protection time coefficient

▲

100

50-300

According to the heating condition of the motor, modifying this value could make the overload protection time float up and down from the reference value, 50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time is extended to 3 times.

%

P12-1

RS485 station NO.

▲

1

1-247

Servo RS485 communication station number and address

P12-2

Baud rate

▲

0

0-5

0: 2400bps. 1: 4800bps.

2: 9600bps. 3: 19200bps.

4: 38400bps. 5: 57600bps

P12-3

Serial port data format

▲

0

0-3

0: 1 STOP bit, No check

1: 1 stop bit, odd check

2: 1 stop bit, even check

3: 2 stop bit, no check

P12-4

Write modbus communication data to EEPROM

▲

0

0-1

0: Not write to EEPROM, volatile.

1: write to EEPROM, non-volatile.

P13-1

Virtual VDI_1 input value

▲

0

0-1

VDI1 input level:

0: low level. 1: high level.

P13-2

Virtual VDI_2 input value

▲

0

0-1

VDI2 input level:

0: low level. 1: high level.

P13-3

Virtual VDI_3 input value

▲

0

0-1

VDI3 input level:

0: low level. 1: high level.

P13-4

Virtual VDI_4 input value

▲

0

0-1

VDI4 input level:

0: low level. 1: high level.

P13-5

Virtual VDI_5 input value

▲

0

0-1

VDI5 input level:

0: low level. 1: high level.

P13-6

Virtual VDI_6 input value

▲

0

0-1

VDI6 input level:

0: low level. 1: high level.

P13-7

Virtual VDI_7 input value

▲

0

0-1

VDI7 input level:

0: low level. 1: high level.

P13-8

Virtual VDI_8 input value

▲

0

0-1

VDI8 input level:

0: low level. 1: high level.

U0-01

General

Servo state

-

int16_t

U0-02

General

Servo motor speed

rpm

int16_t

U0-03

General

Enter speed command

rpm

int16_t

U0-04

General

Speed corresponding to input position reference

rpm

int16_t

U0-05

General

Pulse deviation

Pul

int32_t

U0-07

General

Pulse deviation *10000

Pul

int32_t

U0-09

General

input pulse number

Pul

int32_t

U0-11

General

input pulse number *10000

Pul

int32_t

U0-13

General

Encoder accumulative position

Pul

int32_t

U0-15

General

Encoder accumulative position *10000

Pul

int32_t

U0-17

General

DI input signal state

-

uint32_t

U0-19

General

DO output signal state

-

uint32_t

U0-21

General

AI1 input voltage value

V

int16_t

U0-22

General

AI2 input voltage value

V

int16_t

U0-23

General

Vibration frequency

Hz

uint16_t

U0-24

General

Vibration amplitude

rpm

uint16_t

U0-25

General

Forward torque limitation

%

int16_t

U0-26

General

Backward torque limitation

%

int16_t

U0-27

General

Forward speed limitation

rpm

int16_t

U0-28

General

Backward speed limitation

rpm

int16_t

U0-29

General

Mechanical angle

°

int16_t

U0-30

General

Electric angle

°

int16_t

U0-31

General

Bus voltage

V

uint16_t

U0-32

General

Module temperature

℃

int16_t

U0-33

General

Instantaneous output power

W

int32_t

U0-35

General

Total power-on time: hour

h

uint32_t

U0-37

General

Total power-on time:min

min

uint16_t

U0-38

General

Total power-on time:sec

s

uint16_t

U0-39

General

Output load percentage

%

uint16_t

U0-40

General

Power-on time: hour

h

uint32_t

U0-42

General

Power-on time: min

min

uint16_t

U0-43

General

Power-on time: sec

s

uint16_t

U0-44

General

Instantaneous braking resistance power

W

uint32_t

U0-46

General

Average braking resistance power

W

uint32_t

U0-48

Device

Power-on times

times

uint32_t

U0-50

Device

Motor cumulative turns (x1)

Revolution

uint16_t

U0-51

Device

Motor cumulative turns (x10e4)

Revolution

uint16_t

U0-52

Device

Motor cumulative turns (x10e8)

Revolution

uint16_t

U0-53

Device

Motor model code

-

uint16_t

U1-01

Alarm

Current fault code

-

uint16_t

U1-02

Alarm

Current alarm code

-

uint16_t

U1-03

Alarm

phase U current upon displayed fault

A

int16_t

U1-04

Alarm

phase V current upon displayed fault

A

int16_t

U1-05

Alarm

Bus voltage upon displayed fault

V

uint16_t

U1-06

Alarm

IGBT temperature upon displayed fault

℃

int16_t

U1-07

Alarm

Torque component when fault occured

%

int16_t

U1-08

Alarm

Excitation component when fault occurred

%

int16_t

U1-09

Alarm

Position deviation when fault occurred

Pul

int32_t

U1-11

Alarm

Speed value when fault occurred

rpm

int16_t

U1-12

Alarm

the time when fault occurred

s

uint32_t

U1-14

Alarm

Number of faults

-

uint16_t

U1-15

Alarm

Number of warnings

-

uint16_t

U1-16

Alarm

Total number of historical faults

-

uint16_t

U1-17

Alarm

Total number of historical alarm

-

uint16_t

U1-18

Alarm

Last 2nd fault code

-

uint16_t

U1-19

Alarm

Last 3rd fault code

-

uint16_t

U1-20

Alarm

Last 4th fault code

-

uint16_t

U1-21

Alarm

Last 5th fault code

-

uint16_t

U1-22

Alarm

Last 6th fault code

-

uint16_t

U1-23

Alarm

Last 2nd alarm code

-

uint16_t

U1-24

Alarm

Last 3rd alarm code

-

uint16_t

U1-25

Alarm

Last 4th alarm code

-

uint16_t

U1-26

Alarm

Last 5th alarm code

-

uint16_t

U1-27

Alarm

Last 6th alarm code

-

uint16_t

U2-01

Device

Product series

-

uint16_t

U2-02

Device

model

-

uint16_t

U2-03

Device

Model

-

uint16_t

U2-04

Device

Firmware version

-

uint16_t

U2-05

Device

Hardware version

-

uint16_t

U2-06

Device

date of manufacture:year

Year

uint16_t

U2-07

Device

date of manufacture:month

month

uint16_t

U2-08

Device

date of manufacture:day

Day

uint16_t

U2-09

Device

Device serial number 1

-

uint16_t

U2-10

Device

Device serial number 2

-

uint16_t

U2-11

Device

Device serial number 3

-

uint16_t

U2-12

Device

Device serial number 4

-

uint16_t

U2-13

Device

Device serial number 5

-

uint16_t

U2-14

Device

Device serial number 6

-

uint16_t

U2-15

Device

Device serial number 7

-

uint16_t

U2-16

Device

Device serial number 8

-

uint16_t