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Wiki source code of 09 Parameter

Last modified by Wecon on 2025/09/03 21:03
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1 = **Parameter** =
2
3 Wecon VD1 series Servo drive provides rich monitoring and setting function for the users. The specific display and setting areas are shown in **the following table**:
4
5 (% class="table-bordered" %)
6 |=(((
7 **ID**
8 )))|=(((
9 **Function**
10 )))|=(((
11 **Block**
12 )))|=(((
13 **Section**
14 )))
15 |(((
16 1
17 )))|(((
18 Basic setting
19 )))|(((
20 P0
21 )))|(((
22 P0-1- P0-25
23 )))
24 |(((
25 2
26 )))|(((
27 Control parameter
28 )))|(((
29 P1
30 )))|(((
31 P1-1- P1-25
32 )))
33 |(((
34 3
35 )))|(((
36 Gain adjustment
37 )))|(((
38 P2
39 )))|(((
40 P2-1- P2-25
41 )))
42 |(((
43 4
44 )))|(((
45 Self-tuning parameters
46 )))|(((
47 P3
48 )))|(((
49 P3-1- P3-25
50 )))
51 |(((
52 5
53 )))|(((
54 Vibration inhibitation
55 )))|(((
56 P4
57 )))|(((
58 P4-1- P4-25
59 )))
60 |(((
61 6
62 )))|(((
63 IO signal
64 )))|(((
65 P5
66 )))|(((
67 P5-1- P5-25
68 )))
69 |(((
70 7
71 )))|(((
72 DI/DO configuration
73 )))|(((
74 P6
75 )))|(((
76 P6-1- P6-25
77 )))
78 |(((
79 8
80 )))|(((
81 auxiliary function
82 )))|(((
83 P10
84 )))|(((
85 P10-1- P10-25
86 )))
87 |(((
88 9
89 )))|(((
90 communication parameter
91 )))|(((
92 P12
93 )))|(((
94 P12-1- P12-25
95 )))
96 |(((
97 10
98 )))|(((
99 Virtual input terminal
100 )))|(((
101 P13
102 )))|(((
103 P13-1- P13-25
104 )))
105 |(((
106 11
107 )))|(((
108 Monitoring display
109 )))|(((
110 U0
111 )))|(((
112 U0-1-U0-53
113 )))
114 |(((
115 12
116 )))|(((
117 Alarm display
118 )))|(((
119 U1
120 )))|(((
121 U1-1-U1-27
122 )))
123 |(((
124 13
125 )))|(((
126 Device information
127 )))|(((
128 U2
129 )))|(((
130 U2-1-U2-16
131 )))
132
133 Wecon VD1 series Servo drive provides rich monitoring and setting function for the users. The specific display and setting areas are shown in the following table:
134
135 {{info}}
136 **✎Note: **
137
138 Explanation of parameter names
139
140 When the parameter name is [Reserved], it indicates that it is occupied internally. Do not configure this parameter.
141 {{/info}}
142
143 Parameter units
144
145 When the unit of the parameter is [-], it means that the parameter has no unit.
146
147 Explanation of control mode
148
149 **P: **Position control mode
150
151 **S: **Speed control mode
152
153 **T: **Torque control mode
154
155 **A(ALL): **Fits for position control mode, speed control mode and torque control mode
156
157 Effective time of parameter modification
158
159 [○]: needs to stop Servo drive to set parameter and takes effect after restart.
160
161 [△]: sets when Servo drive is running and takes effect after restart.
162
163 [●]: needs to stop Servo drive to set parameter and takes effect right away
164
165 [▲]: sets when Servo drive is running and takes effect right away.
166
167 = **Basic Setting** =
168
169 (% class="table-bordered" %)
170 |=(% style="width: 72px;" %)(((
171 **Code**
172 )))|=(% style="width: 151px;" %)(((
173 **Function**
174 )))|=(% style="width: 69px;" %)(((
175 **Effective time**
176 )))|=(% style="width: 61px;" %)(((
177 **Defulat**
178 )))|=(% style="width: 115px;" %)(((
179 **Range**
180 )))|=(% style="width: 473px;" %)(((
181 **Description**
182 )))|=(((
183 **Unit**
184 )))|=(((
185 **Control mode**
186 )))
187 |(% style="width:72px" %)(((
188 P0-1
189 )))|(% style="width:151px" %)(((
190 Control mode
191 )))|(% style="width:69px" %)(((
192 ○
193 )))|(% style="width:61px" %)(((
194 1
195 )))|(% style="width:115px" %)(((
196 1-3
197 )))|(% style="width:473px" %)(((
198 1: Position control mode
199
200 2: Speed control mode
201
202 3: Torque control mode
203 )))|(((
204 —
205 )))|(((
206 —
207 )))
208 |(% style="width:72px" %)(((
209 P0-4
210 )))|(% style="width:151px" %)(((
211 Rotation direction
212 )))|(% style="width:69px" %)(((
213 ○
214 )))|(% style="width:61px" %)(((
215 0
216 )))|(% style="width:115px" %)(((
217 0-1
218 )))|(% style="width:473px" %)(((
219 Forward rotation: facing the motor shaft
220
221 0: Standard setting (CW is forward rotation)
222
223 1: Reverse mode (CCW is forward rotation)
224 )))|(((
225 —
226 )))|(((
227 —
228 )))
229 |(% style="width:72px" %)(((
230 P0-5
231 )))|(% style="width:151px" %)(((
232 Servo stop method
233 )))|(% style="width:69px" %)(((
234 ●
235 )))|(% style="width:61px" %)(((
236 0
237 )))|(% style="width:115px" %)(((
238 0-1
239 )))|(% style="width:473px" %)(((
240 0: Free stop, motor shaft remains free.
241
242 1: Zero speed stop, motor shaft remains free.
243 )))|(((
244 —
245 )))|(((
246 —
247 )))
248 |(% style="width:72px" %)(((
249 P0-9
250 )))|(% style="width:151px" %)(((
251 Regenerative resistor setting
252 )))|(% style="width:69px" %)(((
253 ●
254 )))|(% style="width:61px" %)(((
255 0
256 )))|(% style="width:115px" %)(((
257 0-3
258 )))|(% style="width:473px" %)(((
259 0: Use built-in regenerative resistor.
260
261 1: Use external regenerative resistor and cool naturally.
262
263 2: Use external regenerative resistor and forced air cooling. (Not settable)
264
265 3: No regenerative resistor is used, it's all absorbed by the capacitor. (Not settable)
266 )))|(((
267 —
268 )))|(((
269 —
270 )))
271 |(% style="width:72px" %)(((
272 P0-10
273 )))|(% style="width:151px" %)(((
274 External regenerative resistor resistance
275 )))|(% style="width:69px" %)(((
276 ●
277 )))|(% style="width:61px" %)(((
278 50
279 )))|(% style="width:115px" %)(((
280 0-65535
281 )))|(% style="width:473px" %)(((
282 Used to set the external regenerative resistor resistance of a certain type of driver.
283 )))|(((
284 Ω
285 )))|(((
286 —
287 )))
288 |(% style="width:72px" %)(((
289 P0-11
290 )))|(% style="width:151px" %)(((
291 Power of external regenerative resistor
292 )))|(% style="width:69px" %)(((
293 ●
294 )))|(% style="width:61px" %)(((
295 100
296 )))|(% style="width:115px" %)(((
297 0-65535
298 )))|(% style="width:473px" %)(((
299 Used to set the power of the external regenerative resistor of a certain type of driver.
300 )))|(((
301 W
302 )))|(((
303 —
304 )))
305 |(% style="width:72px" %)(((
306 P0-12
307 )))|(% style="width:151px" %)(((
308 pulse type selection
309 )))|(% style="width:69px" %)(((
310 ○
311 )))|(% style="width:61px" %)(((
312 0
313 )))|(% style="width:115px" %)(((
314 0-2
315 )))|(% style="width:473px" %)(((
316 0: direction+pulse(Positive logic)
317
318 1: CW/CCW
319
320 2: A, B phase quadrature pulse (4 times frequency)
321 )))|(((
322 —
323 )))|(((
324 P
325 )))
326 |(% style="width:72px" %)(((
327 P0-13
328 )))|(% style="width:151px" %)(((
329 Pulse frequency
330 )))|(% style="width:69px" %)(((
331 ○
332 )))|(% style="width:61px" %)(((
333 300
334 )))|(% style="width:115px" %)(((
335 1-500
336 )))|(% style="width:473px" %)(((
337 Set the maximum pulse frequency KHz
338 )))|(((
339 kHz
340 )))|(((
341 P
342 )))
343 |(% style="width:72px" %)(((
344 P0-14
345 )))|(% style="width:151px" %)(((
346 pulse anti-interference level
347 )))|(% style="width:69px" %)(((
348 ○
349 )))|(% style="width:61px" %)(((
350 2
351 )))|(% style="width:115px" %)(((
352 1-3
353 )))|(% style="width:473px" %)(((
354 Set the pulse anti-interference level.
355
356 1: low anti-interference level. (0.1)
357
358 2: Medium (0.25)
359
360 3: high (0.4)
361 )))|(((
362 —
363 )))|(((
364 P
365 )))
366 |(% style="width:72px" %)(((
367 P0-16
368 )))|(% style="width:151px" %)(((
369 pulse number per revolution
370 )))|(% style="width:69px" %)(((
371 ○
372 )))|(% style="width:61px" %)(((
373 10000
374 )))|(% style="width:115px" %)(((
375 0-10000
376 )))|(% style="width:473px" %)(((
377 Set the pulse number of per rotation
378
379 Only when P0-16=0 then P0-17,P0-18,P0-19,P0-20 would take effect
380 )))|(((
381 Pul
382 )))|(((
383 P
384 )))
385 |(% style="width:72px" %)(((
386 P0-17
387 )))|(% style="width:151px" %)(((
388 Electronic gear 1 numerator
389 )))|(% style="width:69px" %)(((
390 ▲
391 )))|(% style="width:61px" %)(((
392 1
393 )))|(% style="width:115px" %)(((
394 1-32767
395 )))|(% style="width:473px" %)(((
396 Set the numerator of the first group electronic gear ratio.
397
398 It is valid when P0-16=0
399 )))|(((
400 —
401 )))|(((
402 P
403 )))
404 |(% style="width:72px" %)(((
405 P0-18
406 )))|(% style="width:151px" %)(((
407 Electronic gear 1 denominator
408 )))|(% style="width:69px" %)(((
409 ▲
410 )))|(% style="width:61px" %)(((
411 1
412 )))|(% style="width:115px" %)(((
413 1-32767
414 )))|(% style="width:473px" %)(((
415 Set the denominator of the first group electronic gear ratio.
416
417 It is valid when P0-16=0
418 )))|(((
419 —
420 )))|(((
421 P
422 )))
423 |(% style="width:72px" %)(((
424 P0-19
425 )))|(% style="width:151px" %)(((
426 Electronic gear 2 numerator
427 )))|(% style="width:69px" %)(((
428 ▲
429 )))|(% style="width:61px" %)(((
430 1
431 )))|(% style="width:115px" %)(((
432 1-32767
433 )))|(% style="width:473px" %)(((
434 Set the numerator of the first group electronic gear ratio.
435
436 It is valid when P0-16=0
437 )))|(((
438 —
439 )))|(((
440 P
441 )))
442 |(% style="width:72px" %)(((
443 P0-20
444 )))|(% style="width:151px" %)(((
445 Electronic gear 2 denominator
446 )))|(% style="width:69px" %)(((
447 ▲
448 )))|(% style="width:61px" %)(((
449 1
450 )))|(% style="width:115px" %)(((
451 1-32767
452 )))|(% style="width:473px" %)(((
453 Set the denominator of the first group electronic gear ratio.
454
455 It is valid when P0-16=0
456 )))|(((
457 —
458 )))|(((
459 P
460 )))
461 |(% style="width:72px" %)(((
462 P0-21
463 )))|(% style="width:151px" %)(((
464 frequency-dividing output direction
465 )))|(% style="width:69px" %)(((
466 ○
467 )))|(% style="width:61px" %)(((
468 0
469 )))|(% style="width:115px" %)(((
470 0-1
471 )))|(% style="width:473px" %)(((
472 Quadrature pulse output.
473
474 0: When the motor rotation direction is CW, A advances B
475
476 1: When the motor rotation direction is CCW, B advances A
477 )))|(((
478 —
479 )))|(((
480 P
481 )))
482 |(% style="width:72px" %)(((
483 P0-22
484 )))|(% style="width:151px" %)(((
485 Encoder ppr
486 )))|(% style="width:69px" %)(((
487 ○
488 )))|(% style="width:61px" %)(((
489 2500
490 )))|(% style="width:115px" %)(((
491 0~~2500
492 )))|(% style="width:473px" %)(((
493 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.
494 )))|(((
495 Pul
496 )))|(((
497 P
498 )))
499 |(% style="width:72px" %)(((
500 P0-23
501 )))|(% style="width:151px" %)(((
502 Z pulse output
503
504 OZ polarity
505 )))|(% style="width:69px" %)(((
506 ○
507 )))|(% style="width:61px" %)(((
508 0
509 )))|(% style="width:115px" %)(((
510 0-1
511 )))|(% style="width:473px" %)(((
512 0-Z Active when pulse is high
513
514 1-Z Active when pulse is low
515 )))|(((
516 —
517 )))|(((
518 P
519 )))
520 |(% style="width:72px" %)(((
521 P0-25
522 )))|(% style="width:151px" %)(((
523 Position deviation limitation
524 )))|(% style="width:69px" %)(((
525 ○
526 )))|(% style="width:61px" %)(((
527 60000
528 )))|(% style="width:115px" %)(((
529 0-65535
530 )))|(% style="width:473px" %)(((
531 0: Ignore position deviation fault. Other values: Position deviation exceeds this setting range and report position [Er. 36] Excessive deviation fault
532 )))|(((
533 Pul
534 )))|(((
535 P
536 )))
537
538 = **Control Parameter** =
539
540 (% class="table-bordered" %)
541 |=(% style="width: 69px;" %)(((
542 **Code**
543 )))|=(% style="width: 105px;" %)(((
544 **Function**
545 )))|=(% style="width: 80px;" %)(((
546 **Effective time**
547 )))|=(% style="width: 64px;" %)(((
548 **Defulat**
549 )))|=(% style="width: 99px;" %)(((
550 **Range**
551 )))|=(% style="width: 529px;" %)(((
552 **Description**
553 )))|=(((
554 **Unit**
555 )))|=(((
556 **Control mode**
557 )))
558 |(% style="width:69px" %)(((
559 P1-1
560 )))|(% style="width:105px" %)(((
561 Speed command source
562 )))|(% style="width:80px" %)(((
563 ●
564 )))|(% style="width:64px" %)(((
565 0
566 )))|(% style="width:99px" %)(((
567 0-1
568 )))|(% style="width:529px" %)(((
569 0: Internal speed command (set in P1-3).
570
571 1: AI_1 analog input.
572 )))|(((
573 -
574 )))|(((
575 S
576 )))
577 |(% style="width:69px" %)(((
578 P1-2
579 )))|(% style="width:105px" %)(((
580 Internal speed command
581 )))|(% style="width:80px" %)(((
582 ▲
583 )))|(% style="width:64px" %)(((
584 100
585 )))|(% style="width:99px" %)(((
586 -3000-3000
587 )))|(% style="width:529px" %)(((
588 Internal speed command
589 )))|(((
590 rpm
591 )))|(((
592 S
593 )))
594 |(% style="width:69px" %)(((
595 P1-3
596 )))|(% style="width:105px" %)(((
597 Acc. time
598 )))|(% style="width:80px" %)(((
599 ▲
600 )))|(% style="width:64px" %)(((
601 50
602 )))|(% style="width:99px" %)(((
603 0-65535
604 )))|(% style="width:529px" %)(((
605 Acceleration time from 0 to 1000rpm in speed command mode
606 )))|(((
607 ms
608 )))|(((
609 S
610 )))
611 |(% style="width:69px" %)(((
612 P1-4
613 )))|(% style="width:105px" %)(((
614 Dec. time
615 )))|(% style="width:80px" %)(((
616 ▲
617 )))|(% style="width:64px" %)(((
618 50
619 )))|(% style="width:99px" %)(((
620 0-65535
621 )))|(% style="width:529px" %)(((
622 Deceleration time from 1000 to 0 rpm in speed command mode
623 )))|(((
624 ms
625 )))|(((
626 S
627 )))
628 |(% style="width:69px" %)(((
629 P1-7
630 )))|(% style="width:105px" %)(((
631 Torque command source
632 )))|(% style="width:80px" %)(((
633 ●
634 )))|(% style="width:64px" %)(((
635 0
636 )))|(% style="width:99px" %)(((
637 0-1
638 )))|(% style="width:529px" %)(((
639 0: Internal torque command.
640
641 1: AI_1 analog input.
642 )))|(((
643 -
644 )))|(((
645 T
646 )))
647 |(% style="width:69px" %)(((
648 P1-8
649 )))|(% style="width:105px" %)(((
650 Torque command keyboard set value
651 )))|(% style="width:80px" %)(((
652 ▲
653 )))|(% style="width:64px" %)(((
654 0
655 )))|(% style="width:99px" %)(((
656 -3000-3000
657 )))|(% style="width:529px" %)(((
658 -300.0%-300.0%
659 )))|(((
660 0.1%
661 )))|(((
662 T
663 )))
664 |(% style="width:69px" %)(((
665 P1-9
666 )))|(% style="width:105px" %)(((
667 Source of speed Limit in torque mode
668 )))|(% style="width:80px" %)(((
669 ●
670 )))|(% style="width:64px" %)(((
671 0
672 )))|(% style="width:99px" %)(((
673 0-1
674 )))|(% style="width:529px" %)(((
675 0: Internal forward and reverse limit
676
677 1: AI_2 analog input
678 )))|(((
679 -
680 )))|(((
681 T
682 )))
683 |(% style="width:69px" %)(((
684 P1-10
685 )))|(% style="width:105px" %)(((
686 Max speed threshold
687 )))|(% style="width:80px" %)(((
688 ▲
689 )))|(% style="width:64px" %)(((
690 3600
691 )))|(% style="width:99px" %)(((
692 0-5000
693 )))|(% style="width:529px" %)(((
694 Set the maximum speed limit value. If it exceeds this value, an overspeed fault is reported.
695 )))|(((
696 rpm
697 )))|(((
698 A
699 )))
700 |(% style="width:69px" %)(((
701 P1-11
702 )))|(% style="width:105px" %)(((
703 Warning speed threshold
704 )))|(% style="width:80px" %)(((
705 ▲
706 )))|(% style="width:64px" %)(((
707 3300
708 )))|(% style="width:99px" %)(((
709 0-4500
710 )))|(% style="width:529px" %)(((
711 Set the alarm speed threshold. If this value is exceeded, an overspeed warning would be reported.
712 )))|(((
713 rpm
714 )))|(((
715 A
716 )))
717 |(% style="width:69px" %)(((
718 P1-12
719 )))|(% style="width:105px" %)(((
720 Forward speed threshold
721 )))|(% style="width:80px" %)(((
722 ▲
723 )))|(% style="width:64px" %)(((
724 3000
725 )))|(% style="width:99px" %)(((
726 0-3000
727 )))|(% style="width:529px" %)(((
728 Set forward speed limit
729 )))|(((
730 rpm
731 )))|(((
732 A
733 )))
734 |(% style="width:69px" %)(((
735 P1-13
736 )))|(% style="width:105px" %)(((
737 Reverse speed threshold
738 )))|(% style="width:80px" %)(((
739 ▲
740 )))|(% style="width:64px" %)(((
741 3000
742 )))|(% style="width:99px" %)(((
743 0-3000
744 )))|(% style="width:529px" %)(((
745 Set reverse speed limit
746 )))|(((
747 rpm
748 )))|(((
749 A
750 )))
751 |(% style="width:69px" %)(((
752 P1-14
753 )))|(% style="width:105px" %)(((
754 Torque limit source
755 )))|(% style="width:80px" %)(((
756 ●
757 )))|(% style="width:64px" %)(((
758 0
759 )))|(% style="width:99px" %)(((
760 0-1
761 )))|(% style="width:529px" %)(((
762 0: Internal value
763
764 1: AI_2 analog input
765 )))|(((
766 -
767 )))|(((
768 A
769 )))
770 |(% style="width:69px" %)(((
771 P1-15
772 )))|(% style="width:105px" %)(((
773 Forward rotation torque limit
774 )))|(% style="width:80px" %)(((
775 ▲
776 )))|(% style="width:64px" %)(((
777 3000
778 )))|(% style="width:99px" %)(((
779 0-3000
780 )))|(% style="width:529px" %)(((
781 When [P1-14] selects internal torque limit, this function code value is used as the forward torque limit value
782 )))|(((
783 0.1%
784 )))|(((
785 A
786 )))
787 |(% style="width:69px" %)(((
788 P1-16
789 )))|(% style="width:105px" %)(((
790 Reverse torque limit
791 )))|(% style="width:80px" %)(((
792 ▲
793 )))|(% style="width:64px" %)(((
794 3000
795 )))|(% style="width:99px" %)(((
796 0-3000
797 )))|(% style="width:529px" %)(((
798 When [P1-14] selects internal torque limit, this function code value is used as the reverse torque limit value
799 )))|(((
800 0.1%
801 )))|(((
802 A
803 )))
804 |(% style="width:69px" %)(((
805 P1-19
806 )))|(% style="width:105px" %)(((
807 Torque saturation timeout
808 )))|(% style="width:80px" %)(((
809 ▲
810 )))|(% style="width:64px" %)(((
811 1000
812 )))|(% style="width:99px" %)(((
813 0-65535
814 )))|(% style="width:529px" %)(((
815 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.
816
817 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.
818 )))|(((
819 ms
820 )))|(((
821 A
822 )))
823 |(% style="width:69px" %)(((
824 P1-21
825 )))|(% style="width:105px" %)(((
826 Zero speed clamp function selection
827 )))|(% style="width:80px" %)(((
828 ▲
829 )))|(% style="width:64px" %)(((
830 0
831 )))|(% style="width:99px" %)(((
832 0-3
833 )))|(% style="width:529px" %)(((
834 Set the zero speed clamp function. In speed mode:
835
836 0: Force speed to 0.
837
838 1: Force the speed to 0, and keep the position locked when the actual speed is less than [P1.22].
839
840 2: When the speed reference is less than [P1-22], force the speed to 0 and keep the position locked.
841
842 3: Invalid, ignore the zero speed clamp input.
843 )))|(((
844 rpm
845 )))|(((
846 S
847 )))
848 |(% style="width:69px" %)(((
849 P1-22
850 )))|(% style="width:105px" %)(((
851 Speed threshold for zero
852 )))|(% style="width:80px" %)(((
853 ▲
854 )))|(% style="width:64px" %)(((
855 20
856 )))|(% style="width:99px" %)(((
857 0-1000
858 )))|(% style="width:529px" %)(((
859 Set the speed threshold of the zero speed clamp function
860 )))|(((
861 rpm
862 )))|(((
863 S
864 )))
865
866 = **Gain Parameter** =
867
868 (% class="table-bordered" %)
869 |=(% style="width: 67px;" %)(((
870 **Code**
871 )))|=(% style="width: 180px;" %)(((
872 **Function**
873 )))|=(% style="width: 79px;" %)(((
874 **Effective time**
875 )))|=(% style="width: 71px;" %)(((
876 **Default**
877 )))|=(% style="width: 128px;" %)(((
878 **Range**
879 )))|=(% style="width: 486px;" %)(((
880 **Description**
881 )))|=(% style="width: 59px;" %)(((
882 **Unit**
883 )))
884 |(% style="width:67px" %)(((
885 P2-1
886 )))|(% style="width:180px" %)(((
887 1st position loop gain
888 )))|(% style="width:79px" %)(((
889 ▲
890 )))|(% style="width:71px" %)(((
891 400
892 )))|(% style="width:128px" %)(((
893 0-6200
894 )))|(% style="width:486px" %)(((
895 Set the position loop gain to determine the responsiveness of the position control system.
896 )))|(% style="width:59px" %)(((
897 0.1Hz
898 )))
899 |(% style="width:67px" %)(((
900 P2-2
901 )))|(% style="width:180px" %)(((
902 1st speed loop gain
903 )))|(% style="width:79px" %)(((
904 ▲
905 )))|(% style="width:71px" %)(((
906 65
907 )))|(% style="width:128px" %)(((
908 0-35000
909 )))|(% style="width:486px" %)(((
910 Set the speed loop gain to determine the response of the speed loop.
911 )))|(% style="width:59px" %)(((
912 0.1Hz
913 )))
914 |(% style="width:67px" %)(((
915 P2-3
916 )))|(% style="width:180px" %)(((
917 1st speed loop integration time constant
918 )))|(% style="width:79px" %)(((
919 ▲
920 )))|(% style="width:71px" %)(((
921 1000
922 )))|(% style="width:128px" %)(((
923 100-65535
924 )))|(% style="width:486px" %)(((
925 Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.
926 )))|(% style="width:59px" %)(((
927 0.1ms
928 )))
929 |(% style="width:67px" %)(((
930 P2-4
931 )))|(% style="width:180px" %)(((
932 2nd position loop gain
933 )))|(% style="width:79px" %)(((
934 ▲
935 )))|(% style="width:71px" %)(((
936 35
937 )))|(% style="width:128px" %)(((
938 0-6200
939 )))|(% style="width:486px" %)(((
940 Set the position loop gain to determine the responsiveness of the position control system.
941 )))|(% style="width:59px" %)(((
942 0.1Hz
943 )))
944 |(% style="width:67px" %)(((
945 P2-5
946 )))|(% style="width:180px" %)(((
947 2nd speed loop gain
948 )))|(% style="width:79px" %)(((
949 ▲
950 )))|(% style="width:71px" %)(((
951 65
952 )))|(% style="width:128px" %)(((
953 0-35000
954 )))|(% style="width:486px" %)(((
955 Set the speed loop gain to determine the response of the speed loop.
956 )))|(% style="width:59px" %)(((
957 0.1Hz
958 )))
959 |(% style="width:67px" %)(((
960 P2-6
961 )))|(% style="width:180px" %)(((
962 2nd speed loop integration time constant
963 )))|(% style="width:79px" %)(((
964 ▲
965 )))|(% style="width:71px" %)(((
966 1000
967 )))|(% style="width:128px" %)(((
968 0-65535
969 )))|(% style="width:486px" %)(((
970 Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.
971 )))|(% style="width:59px" %)(((
972 0.1ms
973 )))
974 |(% style="width:67px" %)(((
975 P2-7
976 )))|(% style="width:180px" %)(((
977 Second gain switching mode
978 )))|(% style="width:79px" %)(((
979 ▲
980 )))|(% style="width:71px" %)(((
981 0
982 )))|(% style="width:128px" %)(((
983 0-3
984 )))|(% style="width:486px" %)(((
985 0: DI terminal. 1: Speed command change rate is too large. 2: Position deviation is large. 3: Reserved
986 )))|(% style="width:59px" %)(((
987 -
988 )))
989 |(% style="width:67px" %)(((
990 P2-9
991 )))|(% style="width:180px" %)(((
992 Speed feedforward gain
993 )))|(% style="width:79px" %)(((
994 ▲
995 )))|(% style="width:71px" %)(((
996 0
997 )))|(% style="width:128px" %)(((
998 0-1000
999 )))|(% style="width:486px" %)(((
1000 0.0%-100.0%
1001 )))|(% style="width:59px" %)(((
1002 0.1%
1003 )))
1004 |(% style="width:67px" %)(((
1005 P2-10
1006 )))|(% style="width:180px" %)(((
1007 Speed feedforward filter
1008 )))|(% style="width:79px" %)(((
1009 ▲
1010 )))|(% style="width:71px" %)(((
1011 50
1012 )))|(% style="width:128px" %)(((
1013 0-10000
1014 )))|(% style="width:486px" %)(((
1015 Set the time constant of the primary delay filter related to the speed feedforward input
1016 )))|(% style="width:59px" %)(((
1017 0.01ms
1018 )))
1019 |(% style="width:67px" %)(((
1020 P2-11
1021 )))|(% style="width:180px" %)(((
1022 Torque feedforward gain
1023 )))|(% style="width:79px" %)(((
1024 ▲
1025 )))|(% style="width:71px" %)(((
1026 0
1027 )))|(% style="width:128px" %)(((
1028 0-2000
1029 )))|(% style="width:486px" %)(((
1030 0.0%-200.0%
1031 )))|(% style="width:59px" %)(((
1032 0.1%
1033 )))
1034 |(% style="width:67px" %)(((
1035 P2-12
1036 )))|(% style="width:180px" %)(((
1037 Torque feedforward filter
1038 )))|(% style="width:79px" %)(((
1039 ▲
1040 )))|(% style="width:71px" %)(((
1041 50
1042 )))|(% style="width:128px" %)(((
1043 0-10000
1044 )))|(% style="width:486px" %)(((
1045 Set the time constant of the primary delay filter associated with the torque feedforward input.
1046 )))|(% style="width:59px" %)(((
1047 0.01ms
1048 )))
1049
1050 = **Auto-tuning Parameter** =
1051
1052 (% class="table-bordered" %)
1053 |=(% style="width: 66px;" %)(((
1054 **Code**
1055 )))|=(% style="width: 124px;" %)(((
1056 **Function**
1057 )))|=(% style="width: 75px;" %)(((
1058 **Effective time**
1059 )))|=(% style="width: 62px;" %)(((
1060 **Defulat**
1061 )))|=(% style="width: 89px;" %)(((
1062 **Range**
1063 )))|=(% style="width: 585px;" %)(((
1064 **Description**
1065 )))|=(((
1066 **Unit**
1067 )))
1068 |(% style="width:66px" %)(((
1069 P3-1
1070 )))|(% style="width:124px" %)(((
1071 Load inertia ratio
1072 )))|(% style="width:75px" %)(((
1073 ▲
1074 )))|(% style="width:62px" %)(((
1075 500
1076 )))|(% style="width:89px" %)(((
1077 0-10000
1078 )))|(% style="width:585px" %)(((
1079 Set load inertia ratio, 0.00 - 100.00 times
1080 )))|(((
1081 0.01
1082 )))
1083 |(% style="width:66px" %)(((
1084 P3-2
1085 )))|(% style="width:124px" %)(((
1086 rigidity selection for load level
1087 )))|(% style="width:75px" %)(((
1088 ▲
1089 )))|(% style="width:62px" %)(((
1090 12
1091 )))|(% style="width:89px" %)(((
1092 0-31
1093 )))|(% style="width:585px" %)(((
1094 Selection of rigidity
1095 )))|(((
1096 -
1097 )))
1098 |(% style="width:66px" %)(((
1099 P3-3
1100 )))|(% style="width:124px" %)(((
1101 Auto-tuning mode selection
1102 )))|(% style="width:75px" %)(((
1103 ▲
1104 )))|(% style="width:62px" %)(((
1105 0
1106 )))|(% style="width:89px" %)(((
1107 0-2
1108 )))|(% style="width:585px" %)(((
1109 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
1110
1111 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.
1112
1113 2: Online automatic parameter auto-tuning mode (not implemented yet).
1114 )))|(((
1115 -
1116 )))
1117 |(% style="width:66px" %)(((
1118 P3-4
1119 )))|(% style="width:124px" %)(((
1120 Online inertia identification sensitivity
1121 )))|(% style="width:75px" %)(((
1122 ▲
1123 )))|(% style="width:62px" %)(((
1124 0
1125 )))|(% style="width:89px" %)(((
1126 0-2
1127 )))|(% style="width:585px" %)(((
1128 0:slow change (not implemented yet)
1129
1130 1: General changes (not implemented yet)
1131
1132 2: Fast change (not implemented yet)
1133 )))|(((
1134 -
1135 )))
1136 |(% style="width:66px" %)(((
1137 P3-5
1138 )))|(% style="width:124px" %)(((
1139 Number of inertia identification cycles
1140 )))|(% style="width:75px" %)(((
1141 ●
1142 )))|(% style="width:62px" %)(((
1143 2
1144 )))|(% style="width:89px" %)(((
1145 1-2
1146 )))|(% style="width:585px" %)(((
1147 Offline load inertia identification process, motor rotation number setting
1148 )))|(((
1149 revolution
1150 )))
1151 |(% style="width:66px" %)(((
1152 P3-6
1153 )))|(% style="width:124px" %)(((
1154 Maximum speed of inertia identification
1155 )))|(% style="width:75px" %)(((
1156 ●
1157 )))|(% style="width:62px" %)(((
1158 1000
1159 )))|(% style="width:89px" %)(((
1160 300-2000
1161 )))|(% style="width:585px" %)(((
1162 Set the maximum allowed motor speed command in offline inertia identification mode.
1163
1164 The greater the speed of inertia identification, the more accurate the identification result, usually keep the default value.
1165 )))|(((
1166 rpm
1167 )))
1168 |(% style="width:66px" %)(((
1169 P3-7
1170 )))|(% style="width:124px" %)(((
1171 rotation direction parameter
1172 )))|(% style="width:75px" %)(((
1173 ●
1174 )))|(% style="width:62px" %)(((
1175 0
1176 )))|(% style="width:89px" %)(((
1177 0-2
1178 )))|(% style="width:585px" %)(((
1179 0: forward and backward rotation
1180
1181 1: forward-forward one-way rotation
1182
1183 2: backward-backward one-way rotation
1184 )))|(((
1185 -
1186 )))
1187 |(% style="width:66px" %)(((
1188 P3-8
1189 )))|(% style="width:124px" %)(((
1190 Parameter identification waiting time
1191 )))|(% style="width:75px" %)(((
1192 ●
1193 )))|(% style="width:62px" %)(((
1194 1000
1195 )))|(% style="width:89px" %)(((
1196 300-10000
1197 )))|(% style="width:585px" %)(((
1198 Time interval between two consecutive speed commands during offline inertia recognition
1199 )))|(((
1200 ms
1201 )))
1202
1203 = **Vibration Inhibition** =
1204
1205 (% class="table-bordered" %)
1206 |=(% style="width: 58px;" %)(((
1207 **Code**
1208 )))|=(% style="width: 208px;" %)(((
1209 **Function**
1210 )))|=(% style="width: 72px;" %)(((
1211 **Effective time**
1212 )))|=(% style="width: 65px;" %)(((
1213 **Defulat**
1214 )))|=(% style="width: 92px;" %)(((
1215 **Range**
1216 )))|=(% style="width: 450px;" %)(((
1217 **Description**
1218 )))|=(((
1219 **Unit**
1220 )))|=(((
1221 **Control mode**
1222 )))
1223 |(% style="width:58px" %)(((
1224 P4-1
1225 )))|(% style="width:208px" %)(((
1226 Pulse command filtering mode
1227 )))|(% style="width:72px" %)(((
1228 ●
1229 )))|(% style="width:65px" %)(((
1230 0
1231 )))|(% style="width:92px" %)(((
1232 0-1
1233 )))|(% style="width:450px" %)(((
1234 0: first-order low-pass filtering
1235
1236 1: average filter
1237 )))|(((
1238 -
1239 )))|(((
1240 P
1241 )))
1242 |(% style="width:58px" %)(((
1243 P4-2
1244 )))|(% style="width:208px" %)(((
1245 Position command first-order low-pass filter
1246 )))|(% style="width:72px" %)(((
1247 ●
1248 )))|(% style="width:65px" %)(((
1249 20
1250 )))|(% style="width:92px" %)(((
1251 0-1000
1252 )))|(% style="width:450px" %)(((
1253 For pulse command input filtering
1254 )))|(((
1255 ms
1256 )))|(((
1257 P
1258 )))
1259 |(% style="width:58px" %)(((
1260 P4-3
1261 )))|(% style="width:208px" %)(((
1262 Position command average filtering time constant
1263 )))|(% style="width:72px" %)(((
1264 ●
1265 )))|(% style="width:65px" %)(((
1266 20
1267 )))|(% style="width:92px" %)(((
1268 0-128
1269 )))|(% style="width:450px" %)(((
1270 For pulse command input filtering
1271 )))|(((
1272 ms
1273 )))|(((
1274 P
1275 )))
1276 |(% style="width:58px" %)(((
1277 P4-4
1278 )))|(% style="width:208px" %)(((
1279 Torque filter time constant
1280 )))|(% style="width:72px" %)(((
1281 ▲
1282 )))|(% style="width:65px" %)(((
1283 50
1284 )))|(% style="width:92px" %)(((
1285 10-2500
1286 )))|(% style="width:450px" %)(((
1287 When [Auto-tuning mode] is set as 1, or 2, this parameter is set automatically
1288 )))|(((
1289 0.01
1290 )))|(((
1291
1292 )))
1293 |(% style="width:58px" %)(((
1294 P4-5
1295 )))|(% style="width:208px" %)(((
1296 First notch frequency
1297 )))|(% style="width:72px" %)(((
1298 ▲
1299 )))|(% style="width:65px" %)(((
1300 300
1301 )))|(% style="width:92px" %)(((
1302 250-5000
1303 )))|(% style="width:450px" %)(((
1304 Set the center frequency of the 1st notch filter.
1305
1306 When the setting value is 5000, the function of the notch filter is disabled.
1307 )))|(((
1308 Hz
1309 )))|(((
1310
1311 )))
1312 |(% style="width:58px" %)(((
1313 P4-6
1314 )))|(% style="width:208px" %)(((
1315 First notch depth level
1316 )))|(% style="width:72px" %)(((
1317 ▲
1318 )))|(% style="width:65px" %)(((
1319 100
1320 )))|(% style="width:92px" %)(((
1321 0-100
1322 )))|(% style="width:450px" %)(((
1323 0: all blocked
1324
1325 100: all passed
1326 )))|(((
1327 -
1328 )))|(((
1329
1330 )))
1331 |(% style="width:58px" %)(((
1332 P4-7
1333 )))|(% style="width:208px" %)(((
1334 First notch width level
1335 )))|(% style="width:72px" %)(((
1336 ▲
1337 )))|(% style="width:65px" %)(((
1338 4
1339 )))|(% style="width:92px" %)(((
1340 0-12
1341 )))|(% style="width:450px" %)(((
1342 0: 0.5 x bandwidth
1343
1344 4: 1x bandwidth
1345
1346 8: 2 times the bandwidth
1347
1348 12: 4 times the bandwidth
1349 )))|(((
1350 -
1351 )))|(((
1352
1353 )))
1354 |(% style="width:58px" %)(((
1355 P4-8
1356 )))|(% style="width:208px" %)(((
1357 Second notch frequency
1358 )))|(% style="width:72px" %)(((
1359 ▲
1360 )))|(% style="width:65px" %)(((
1361 500
1362 )))|(% style="width:92px" %)(((
1363 250-5000
1364 )))|(% style="width:450px" %)(((
1365 Set the center frequency of the second notch filter. When the setting value is 5000, the function of the notch filter is disabled.
1366 )))|(((
1367 Hz
1368 )))|(((
1369
1370 )))
1371 |(% style="width:58px" %)(((
1372 P4-9
1373 )))|(% style="width:208px" %)(((
1374 Second notch depth level
1375 )))|(% style="width:72px" %)(((
1376 ▲
1377 )))|(% style="width:65px" %)(((
1378 100
1379 )))|(% style="width:92px" %)(((
1380 0-100
1381 )))|(% style="width:450px" %)(((
1382 0: all blocked
1383
1384 100: all passed
1385 )))|(((
1386 -
1387 )))|(((
1388
1389 )))
1390 |(% style="width:58px" %)(((
1391 P4-10
1392 )))|(% style="width:208px" %)(((
1393 Second notch width level
1394 )))|(% style="width:72px" %)(((
1395 ▲
1396 )))|(% style="width:65px" %)(((
1397 4
1398 )))|(% style="width:92px" %)(((
1399 0-12
1400 )))|(% style="width:450px" %)(((
1401 0: 0.5 x the bandwidth
1402
1403 4: 1x bandwidth
1404
1405 8: 2 times the bandwidth
1406
1407 12: 4 times the bandwidth
1408 )))|(((
1409 -
1410 )))|(((
1411
1412 )))
1413
1414 = **Signal Input/Output Parameter** =
1415
1416 (% class="table-bordered" %)
1417 |=(% style="width: 60px;" %)(((
1418 **Code**
1419 )))|=(% style="width: 120px;" %)(((
1420 **Function**
1421 )))|=(% style="width: 78px;" %)(((
1422 **Effective time**
1423 )))|=(% style="width: 77px;" %)(((
1424 **Defulat**
1425 )))|=(% style="width: 138px;" %)(((
1426 **Range**
1427 )))|=(% style="width: 463px;" %)(((
1428 **Description**
1429 )))|=(((
1430 **Unit**
1431 )))|=(((
1432 **Control mode**
1433 )))
1434 |(% style="width:60px" %)(((
1435 P5-1
1436 )))|(% style="width:120px" %)(((
1437 AI_1 input bias
1438 )))|(% style="width:78px" %)(((
1439 ▲
1440 )))|(% style="width:77px" %)(((
1441 0
1442 )))|(% style="width:138px" %)(((
1443 -5000-5000
1444 )))|(% style="width:463px" %)(((
1445 Set AI_1 channel analog offset value
1446 )))|(((
1447 mV
1448 )))|(((
1449
1450 )))
1451 |(% style="width:60px" %)(((
1452 P5-2
1453 )))|(% style="width:120px" %)(((
1454 AI_1 Input filter constant
1455 )))|(% style="width:78px" %)(((
1456 ▲
1457 )))|(% style="width:77px" %)(((
1458 200
1459 )))|(% style="width:138px" %)(((
1460 0-60000
1461 )))|(% style="width:463px" %)(((
1462 AI_1 channel input first-order low-pass filtering time constant
1463 )))|(((
1464 0.01 ms
1465 )))|(((
1466
1467 )))
1468 |(% style="width:60px" %)(((
1469 P5-3
1470 )))|(% style="width:120px" %)(((
1471 AI_1 dead zone
1472 )))|(% style="width:78px" %)(((
1473 ▲
1474 )))|(% style="width:77px" %)(((
1475 20
1476 )))|(% style="width:138px" %)(((
1477 0-1000
1478 )))|(% style="width:463px" %)(((
1479 Set AI_1 channel analog dead zone value
1480 )))|(((
1481 mV
1482 )))|(((
1483
1484 )))
1485 |(% style="width:60px" %)(((
1486 P5-4
1487 )))|(% style="width:120px" %)(((
1488 AI_1 zero drift
1489 )))|(% style="width:78px" %)(((
1490 ▲
1491 )))|(% style="width:77px" %)(((
1492 0
1493 )))|(% style="width:138px" %)(((
1494 -500-500
1495 )))|(% style="width:463px" %)(((
1496 Automatic calibration zero drift inside the driver.
1497 )))|(((
1498 mV
1499 )))|(((
1500
1501 )))
1502 |(% style="width:60px" %)(((
1503 P5-5
1504 )))|(% style="width:120px" %)(((
1505 AI_2 input bias
1506 )))|(% style="width:78px" %)(((
1507 ▲
1508 )))|(% style="width:77px" %)(((
1509 0
1510 )))|(% style="width:138px" %)(((
1511 -5000-5000
1512 )))|(% style="width:463px" %)(((
1513 Set AI_2 channel analog offset value
1514 )))|(((
1515 mV
1516 )))|(((
1517
1518 )))
1519 |(% style="width:60px" %)(((
1520 P5-6
1521 )))|(% style="width:120px" %)(((
1522 AI_2 Input filter constant
1523 )))|(% style="width:78px" %)(((
1524 ▲
1525 )))|(% style="width:77px" %)(((
1526 200
1527 )))|(% style="width:138px" %)(((
1528 0-60000
1529 )))|(% style="width:463px" %)(((
1530 AI_2 channel input first-order low-pass filtering time constant
1531 )))|(((
1532 0.01 ms
1533 )))|(((
1534
1535 )))
1536 |(% style="width:60px" %)(((
1537 P5-7
1538 )))|(% style="width:120px" %)(((
1539 AI_2 dead zone
1540 )))|(% style="width:78px" %)(((
1541 ▲
1542 )))|(% style="width:77px" %)(((
1543 20
1544 )))|(% style="width:138px" %)(((
1545 0-500
1546 )))|(% style="width:463px" %)(((
1547 Set AI_1 channel analog dead zone value
1548 )))|(((
1549 mV
1550 )))|(((
1551
1552 )))
1553 |(% style="width:60px" %)(((
1554 P5-8
1555 )))|(% style="width:120px" %)(((
1556 AI_2 zero drift
1557 )))|(% style="width:78px" %)(((
1558 ▲
1559 )))|(% style="width:77px" %)(((
1560 0
1561 )))|(% style="width:138px" %)(((
1562 -500-500
1563 )))|(% style="width:463px" %)(((
1564 Automatic calibration zero drift value inside the driver
1565 )))|(((
1566 mV
1567 )))|(((
1568
1569 )))
1570 |(% style="width:60px" %)(((
1571 P5-9
1572 )))|(% style="width:120px" %)(((
1573 Analog 10V for speed value
1574 )))|(% style="width:78px" %)(((
1575 ●
1576 )))|(% style="width:77px" %)(((
1577 3000
1578 )))|(% style="width:138px" %)(((
1579 1000-4500
1580 )))|(% style="width:463px" %)(((
1581 Set the speed value corresponding to analog 10V
1582 )))|(((
1583 rpm
1584 )))|(((
1585
1586 )))
1587 |(% style="width:60px" %)(((
1588 P5-10
1589 )))|(% style="width:120px" %)(((
1590 Analog 10V for torque value
1591 )))|(% style="width:78px" %)(((
1592 ●
1593 )))|(% style="width:77px" %)(((
1594 1000
1595 )))|(% style="width:138px" %)(((
1596 0-3000
1597 )))|(% style="width:463px" %)(((
1598 Set the torque value corresponding to analog 10V
1599 )))|(((
1600 0.1%
1601 )))|(((
1602
1603 )))
1604 |(% style="width:60px" %)(((
1605 P5-11
1606 )))|(% style="width:120px" %)(((
1607 Positioning completed, positioning near setting
1608 )))|(% style="width:78px" %)(((
1609 ▲
1610 )))|(% style="width:77px" %)(((
1611 0
1612 )))|(% style="width:138px" %)(((
1613 0-3
1614 )))|(% style="width:463px" %)(((
1615 Output signal judging conditions for positioning completed and positioning near
1616
1617 0: The output is valid when the absolute value of the position deviation is less than the positioning completion threshold / location near threshold.
1618
1619 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
1620
1621 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
1622
1623 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
1624 )))|(((
1625 -
1626 )))|(((
1627 P
1628 )))
1629 |(% style="width:60px" %)(((
1630 P5-12
1631 )))|(% style="width:120px" %)(((
1632 Positioning completed threshold
1633 )))|(% style="width:78px" %)(((
1634 ▲
1635 )))|(% style="width:77px" %)(((
1636 800
1637 )))|(% style="width:138px" %)(((
1638 1-65535
1639 )))|(% style="width:463px" %)(((
1640 Positioning completion threshold
1641 )))|(((
1642 Pul
1643 )))|(((
1644 P
1645 )))
1646 |(% style="width:60px" %)(((
1647 P5-13
1648 )))|(% style="width:120px" %)(((
1649 Positioning approach threshold
1650 )))|(% style="width:78px" %)(((
1651 ▲
1652 )))|(% style="width:77px" %)(((
1653 5000
1654 )))|(% style="width:138px" %)(((
1655 1-65535
1656 )))|(% style="width:463px" %)(((
1657 Positioning near threshold
1658 )))|(((
1659 Pul
1660 )))|(((
1661 P
1662 )))
1663 |(% style="width:60px" %)(((
1664 P5-14
1665 )))|(% style="width:120px" %)(((
1666 Positioning detection time window
1667 )))|(% style="width:78px" %)(((
1668 ▲
1669 )))|(% style="width:77px" %)(((
1670 10
1671 )))|(% style="width:138px" %)(((
1672 0-20000
1673 )))|(% style="width:463px" %)(((
1674 Set the positioning completion detection time window
1675 )))|(((
1676 ms
1677 )))|(((
1678 P
1679 )))
1680 |(% style="width:60px" %)(((
1681 P5-15
1682 )))|(% style="width:120px" %)(((
1683 Positioning signal hold time
1684 )))|(% style="width:78px" %)(((
1685 ▲
1686 )))|(% style="width:77px" %)(((
1687 100
1688 )))|(% style="width:138px" %)(((
1689 0-20000
1690 )))|(% style="width:463px" %)(((
1691 Set the hold time of positioning completion output
1692 )))|(((
1693 ms
1694 )))|(((
1695 P
1696 )))
1697 |(% style="width:60px" %)(((
1698 P5-16
1699 )))|(% style="width:120px" %)(((
1700 Rotation detection speed threshold
1701 )))|(% style="width:78px" %)(((
1702 ▲
1703 )))|(% style="width:77px" %)(((
1704 20
1705 )))|(% style="width:138px" %)(((
1706 0-1000
1707 )))|(% style="width:463px" %)(((
1708 Set motor rotation signal judgment threshold
1709 )))|(((
1710 rpm
1711 )))|(((
1712 S
1713 )))
1714 |(% style="width:60px" %)(((
1715 P5-17
1716 )))|(% style="width:120px" %)(((
1717 Speed consistent signal threshold
1718 )))|(% style="width:78px" %)(((
1719 ▲
1720 )))|(% style="width:77px" %)(((
1721 10
1722 )))|(% style="width:138px" %)(((
1723 0-100
1724 )))|(% style="width:463px" %)(((
1725 Set the speed consistent signal threshold
1726 )))|(((
1727 rpm
1728 )))|(((
1729 S
1730 )))
1731 |(% style="width:60px" %)(((
1732 P5-18
1733 )))|(% style="width:120px" %)(((
1734 Speed approaching signal threshold
1735 )))|(% style="width:78px" %)(((
1736 ▲
1737 )))|(% style="width:77px" %)(((
1738 100
1739 )))|(% style="width:138px" %)(((
1740 10-6000
1741 )))|(% style="width:463px" %)(((
1742 Set speed approach signal threshold
1743 )))|(((
1744 rpm
1745 )))|(((
1746 S
1747 )))
1748 |(% style="width:60px" %)(((
1749 P5-19
1750 )))|(% style="width:120px" %)(((
1751 Zero speed output signal threshold
1752 )))|(% style="width:78px" %)(((
1753 ▲
1754 )))|(% style="width:77px" %)(((
1755 10
1756 )))|(% style="width:138px" %)(((
1757 0-6000
1758 )))|(% style="width:463px" %)(((
1759 Set the zero-speed output signal judgment threshold
1760 )))|(((
1761 rpm
1762 )))|(((
1763 S
1764 )))
1765 |(% style="width:60px" %)(((
1766 P5-20
1767 )))|(% style="width:120px" %)(((
1768 Torque reached threshold
1769 )))|(% style="width:78px" %)(((
1770 ▲
1771 )))|(% style="width:77px" %)(((
1772 100
1773 )))|(% style="width:138px" %)(((
1774 0-300
1775 )))|(% style="width:463px" %)(((
1776 The torque reached threshold needs to be used in conjunction with [torque reached hysteresis value]:
1777
1778 When the actual torque reaches [torque reached threshold] + [torque reaches hysteresis], the torque reached DO becomes effective.
1779
1780 When the actual torque decreases below [Torque reached threshold] + [Torque reached hysteresis], the torque reached DO becomes invalid.
1781 )))|(((
1782 %
1783 )))|(((
1784 T
1785 )))
1786 |(% style="width:60px" %)(((
1787 P5-21
1788 )))|(% style="width:120px" %)(((
1789 Torque reached hysteresis
1790 )))|(% style="width:78px" %)(((
1791 ▲
1792 )))|(% style="width:77px" %)(((
1793 10
1794 )))|(% style="width:138px" %)(((
1795 10-20
1796 )))|(% style="width:463px" %)(((
1797 [Torque reached hysteresis value] Need to be used together with [Torque reached threshold]
1798 )))|(((
1799 %
1800 )))|(((
1801 T
1802 )))
1803
1804 = **DI/DO Configuration** =
1805
1806 (% class="table-bordered" %)
1807 |=(% style="width: 68px;" %)(((
1808 **Code**
1809 )))|=(% style="width: 163px;" %)(((
1810 **Function**
1811 )))|=(% style="width: 79px;" %)(((
1812 **Effective time**
1813 )))|=(% style="width: 69px;" %)(((
1814 **Default**
1815 )))|=(% style="width: 83px;" %)(((
1816 **Range**
1817 )))|=(% style="width: 572px;" %)(((
1818 **Description**
1819 )))|=(((
1820 **Unit**
1821 )))
1822 |(% style="width:68px" %)(((
1823 P6-01
1824 )))|(% style="width:163px" %)(((
1825 High-speed DI port filtering time
1826 )))|(% style="width:79px" %)(((
1827 ○
1828 )))|(% style="width:69px" %)(((
1829 50
1830 )))|(% style="width:83px" %)(((
1831 0-10000
1832 )))|(% style="width:572px" %)(((
1833 Filter time for high-speed ports DI7 and DI8
1834 )))|(((
1835 1us
1836 )))
1837 |(% style="width:68px" %)(((
1838 P6-02
1839 )))|(% style="width:163px" %)(((
1840 DI_1 function selection
1841 )))|(% style="width:79px" %)(((
1842 △
1843 )))|(% style="width:69px" %)(((
1844 1
1845 )))|(% style="width:83px" %)(((
1846 0-16
1847 )))|(% style="width:572px" %)(((
1848 1: SON, Servo ON
1849
1850 2: A-CLR, Fault and warning clear
1851
1852 3: POT, Forward limit switch
1853
1854 4: NOT, Reverse limit switch
1855
1856 5: ZCLAMP, Zero speed clamp
1857
1858 6: CL, Clear the position deviation
1859
1860 7: C-SIGN, Instruction negation
1861
1862 8: E-STOP, Emergency stop
1863
1864 9: GEAR-SEL, Electronic gear switching 1
1865
1866 10: GAIN-SEL, Gain switch
1867
1868 11: INH, Position reference inhibited
1869
1870 12: VSSEL, Damer control switch(not implemented yet)
1871
1872 13: INSPD1, Internal speed command selection 1(not implemented yet)
1873
1874 14: INSPD2, Internal speed command selection 2(not implemented yet)
1875
1876 15: INSPD3, Internal speed command selection 3(not implemented yet)
1877
1878 16: J-SEL, Inertia ratio switch(not implemented yet)
1879 )))|(((
1880 -
1881 )))
1882 |(% style="width:68px" %)(((
1883 P6-03
1884 )))|(% style="width:163px" %)(((
1885 DI_1 logic selection
1886 )))|(% style="width:79px" %)(((
1887 △
1888 )))|(% style="width:69px" %)(((
1889 0
1890 )))|(% style="width:83px" %)(((
1891 0-1
1892 )))|(% style="width:572px" %)(((
1893 DI port input logic validity function selection.
1894
1895 0: Normal open input. Active when off (switch closed).
1896
1897 1: Normal closed input. Active when on (switch open).
1898 )))|(((
1899 -
1900 )))
1901 |(% style="width:68px" %)(((
1902 P6-04
1903 )))|(% style="width:163px" %)(((
1904 DI_1 input source selection
1905 )))|(% style="width:79px" %)(((
1906 ▲
1907 )))|(% style="width:69px" %)(((
1908 0
1909 )))|(% style="width:83px" %)(((
1910 0-1
1911 )))|(% style="width:572px" %)(((
1912 0: Hardware DI1
1913
1914 1: VDI1
1915 )))|(((
1916 -
1917 )))
1918 |(% style="width:68px" %)(((
1919 P6-05
1920 )))|(% style="width:163px" %)(((
1921 DI_2 function selection
1922 )))|(% style="width:79px" %)(((
1923 △
1924 )))|(% style="width:69px" %)(((
1925 2
1926 )))|(% style="width:83px" %)(((
1927 0-16
1928 )))|(% style="width:572px" %)(((
1929 1: SON, Servo ON
1930
1931 2: A-CLR, Fault and warning clear
1932
1933 3: POT, Forward limit switch
1934
1935 4: NOT, Reverse limit switch
1936
1937 5: ZCLAMP, Zero speed clamp
1938
1939 6: CL, Clear the position deviation
1940
1941 7: C-SIGN, Instruction negation
1942
1943 8: E-STOP, Emergency stop
1944
1945 9: GEAR-SEL, Electronic gear switching 1
1946
1947 10: GAIN-SEL, Gain switch
1948
1949 11: INH, Position reference inhibited
1950
1951 12: VSSEL, Damer control switch(not implemented yet)
1952
1953 13: INSPD1, Internal speed command selection 1(not implemented yet)
1954
1955 14: INSPD2, Internal speed command selection 2(not implemented yet)
1956
1957 15: INSPD3, Internal speed command selection 3(not implemented yet)
1958
1959 16: J-SEL, Inertia ratio switch(not implemented yet)
1960 )))|(((
1961 -
1962 )))
1963 |(% style="width:68px" %)(((
1964 P6-06
1965 )))|(% style="width:163px" %)(((
1966 DI_2 logic selection
1967 )))|(% style="width:79px" %)(((
1968 △
1969 )))|(% style="width:69px" %)(((
1970 0
1971 )))|(% style="width:83px" %)(((
1972 0-1
1973 )))|(% style="width:572px" %)(((
1974 DI port input logic validity function selection.
1975
1976 0: Normal open input. Active when off (switch closed).
1977
1978 1: Normal closed input. Active when on (switch open).
1979 )))|(((
1980 -
1981 )))
1982 |(% style="width:68px" %)(((
1983 P6-07
1984 )))|(% style="width:163px" %)(((
1985 DI_2 input source selection
1986 )))|(% style="width:79px" %)(((
1987 ▲
1988 )))|(% style="width:69px" %)(((
1989 0
1990 )))|(% style="width:83px" %)(((
1991 0-1
1992 )))|(% style="width:572px" %)(((
1993 0: Hardware DI2
1994
1995 1: VDI2
1996 )))|(((
1997 -
1998 )))
1999 |(% style="width:68px" %)(((
2000 P6-08
2001 )))|(% style="width:163px" %)(((
2002 DI_3 function selection
2003 )))|(% style="width:79px" %)(((
2004 △
2005 )))|(% style="width:69px" %)(((
2006 3
2007 )))|(% style="width:83px" %)(((
2008 0-16
2009 )))|(% style="width:572px" %)(((
2010 1: SON, Servo ON
2011
2012 2: A-CLR, Fault and warning clear
2013
2014 3: POT, Forward limit switch
2015
2016 4: NOT, Reverse limit switch
2017
2018 5: ZCLAMP, Zero speed clamp
2019
2020 6: CL, Clear the position deviation
2021
2022 7: C-SIGN, Instruction negation
2023
2024 8: E-STOP, Emergency stop
2025
2026 9: GEAR-SEL, Electronic gear switching 1
2027
2028 10: GAIN-SEL, Gain switch
2029
2030 11: INH, Position reference inhibited
2031
2032 12: VSSEL, Damer control switch(not implemented yet)
2033
2034 13: INSPD1, Internal speed command selection 1(not implemented yet)
2035
2036 14: INSPD2, Internal speed command selection 2(not implemented yet)
2037
2038 15: INSPD3, Internal speed command selection 3(not implemented yet)
2039
2040 16: J-SEL, Inertia ratio switch(not implemented yet)
2041 )))|(((
2042 -
2043 )))
2044 |(% style="width:68px" %)(((
2045 P6-09
2046 )))|(% style="width:163px" %)(((
2047 DI_3 logic selection
2048 )))|(% style="width:79px" %)(((
2049 △
2050 )))|(% style="width:69px" %)(((
2051 0
2052 )))|(% style="width:83px" %)(((
2053 0-1
2054 )))|(% style="width:572px" %)(((
2055 DI port input logic validity function selection.
2056
2057 0: Normal open input. Active when off (switch closed).
2058
2059 1: Normal closed input. Active when on (switch open).
2060 )))|(((
2061 -
2062 )))
2063 |(% style="width:68px" %)(((
2064 P6-10
2065 )))|(% style="width:163px" %)(((
2066 DI_3 input source selection
2067 )))|(% style="width:79px" %)(((
2068 ▲
2069 )))|(% style="width:69px" %)(((
2070 0
2071 )))|(% style="width:83px" %)(((
2072 0-1
2073 )))|(% style="width:572px" %)(((
2074 0: Hardware DI3
2075
2076 1: VDI3
2077 )))|(((
2078 -
2079 )))
2080 |(% style="width:68px" %)(((
2081 P6-11
2082 )))|(% style="width:163px" %)(((
2083 DI_4 function selection
2084 )))|(% style="width:79px" %)(((
2085 △
2086 )))|(% style="width:69px" %)(((
2087 4
2088 )))|(% style="width:83px" %)(((
2089 0-16
2090 )))|(% style="width:572px" %)(((
2091 1: SON, Servo ON
2092
2093 2: A-CLR, Fault and warning clear
2094
2095 3: POT, Forward limit switch
2096
2097 4: NOT, Reverse limit switch
2098
2099 5: ZCLAMP, Zero speed clamp
2100
2101 6: CL, Clear the position deviation
2102
2103 7: C-SIGN, Instruction negation
2104
2105 8: E-STOP, Emergency stop
2106
2107 9: GEAR-SEL, Electronic gear switching 1
2108
2109 10: GAIN-SEL, Gain switch
2110
2111 11: INH, Position reference inhibited
2112
2113 12: VSSEL, Damer control switch(not implemented yet)
2114
2115 13: INSPD1, Internal speed command selection 1(not implemented yet)
2116
2117 14: INSPD2, Internal speed command selection 2(not implemented yet)
2118
2119 15: INSPD3, Internal speed command selection 3(not implemented yet)
2120
2121 16: J-SEL, Inertia ratio switch(not implemented yet)
2122 )))|(((
2123 -
2124 )))
2125 |(% style="width:68px" %)(((
2126 P6-12
2127 )))|(% style="width:163px" %)(((
2128 DI_4 logic selection
2129 )))|(% style="width:79px" %)(((
2130 △
2131 )))|(% style="width:69px" %)(((
2132 0
2133 )))|(% style="width:83px" %)(((
2134 0-1
2135 )))|(% style="width:572px" %)(((
2136 DI port input logic validity function selection.
2137
2138 0: Normal open input. Active when off (switch closed).
2139
2140 1: Normal closed input. Active when on (switch open).
2141 )))|(((
2142 -
2143 )))
2144 |(% style="width:68px" %)(((
2145 P6-13
2146 )))|(% style="width:163px" %)(((
2147 DI_4 input source selection
2148 )))|(% style="width:79px" %)(((
2149 ▲
2150 )))|(% style="width:69px" %)(((
2151 0
2152 )))|(% style="width:83px" %)(((
2153 0-1
2154 )))|(% style="width:572px" %)(((
2155 0: Hardware DI4
2156
2157 1: VDI4
2158 )))|(((
2159 -
2160 )))
2161 |(% style="width:68px" %)(((
2162 P6-14
2163 )))|(% style="width:163px" %)(((
2164 DI_5 function selection
2165 )))|(% style="width:79px" %)(((
2166 △
2167 )))|(% style="width:69px" %)(((
2168 7
2169 )))|(% style="width:83px" %)(((
2170 0-16
2171 )))|(% style="width:572px" %)(((
2172 1: SON, Servo ON
2173
2174 2: A-CLR, Fault and warning clear
2175
2176 3: POT, Forward limit switch
2177
2178 4: NOT, Reverse limit switch
2179
2180 5: ZCLAMP, Zero speed clamp
2181
2182 6: CL, Clear the position deviation
2183
2184 7: C-SIGN, Instruction negation
2185
2186 8: E-STOP, Emergency stop
2187
2188 9: GEAR-SEL, Electronic gear switching 1
2189
2190 10: GAIN-SEL, Gain switch
2191
2192 11: INH, Position reference inhibited
2193
2194 12: VSSEL, Damer control switch(not implemented yet)
2195
2196 13:INSPD1, Internal speed command selection 1(not implemented yet)
2197
2198 14:INSPD2, Internal speed command selection 2(not implemented yet)
2199
2200 15:INSPD3, Internal speed command selection 3(not implemented yet)
2201
2202 16: J-SEL, Inertia ratio switch(not implemented yet)
2203 )))|(((
2204 -
2205 )))
2206 |(% style="width:68px" %)(((
2207 P6-15
2208 )))|(% style="width:163px" %)(((
2209 DI_5 logic selection
2210 )))|(% style="width:79px" %)(((
2211 △
2212 )))|(% style="width:69px" %)(((
2213 0
2214 )))|(% style="width:83px" %)(((
2215 0-1
2216 )))|(% style="width:572px" %)(((
2217 DI port input logic validity function selection.
2218
2219 0:Normal open input. Active when off (switch closed).
2220
2221 1: Normal closed input. Active when on (switch open).
2222 )))|(((
2223 -
2224 )))
2225 |(% style="width:68px" %)(((
2226 P6-16
2227 )))|(% style="width:163px" %)(((
2228 DI_5 input source selection
2229 )))|(% style="width:79px" %)(((
2230 ▲
2231 )))|(% style="width:69px" %)(((
2232 0
2233 )))|(% style="width:83px" %)(((
2234 0-1
2235 )))|(% style="width:572px" %)(((
2236 0: Hardware DI5
2237
2238 1: VDI5
2239 )))|(((
2240 -
2241 )))
2242 |(% style="width:68px" %)(((
2243 P6-17
2244 )))|(% style="width:163px" %)(((
2245 DI_6 function selection
2246 )))|(% style="width:79px" %)(((
2247 △
2248 )))|(% style="width:69px" %)(((
2249 11
2250 )))|(% style="width:83px" %)(((
2251 0-16
2252 )))|(% style="width:572px" %)(((
2253 1: SON, Servo ON
2254
2255 2: A-CLR, Fault and warning clear
2256
2257 3: POT, Forward limit switch
2258
2259 4: NOT, Reverse limit switch
2260
2261 5: ZCLAMP, Zero speed clamp
2262
2263 6: CL, Clear the position deviation
2264
2265 7: C-SIGN, Instruction negation
2266
2267 8: E-STOP, Emergency stop
2268
2269 9: GEAR-SEL, Electronic gear switching 1
2270
2271 10: GAIN-SEL, Gain switch
2272
2273 11: INH, Position reference inhibited
2274
2275 12: VSSEL, Damer control switch(not implemented yet)
2276
2277 13:INSPD1, Internal speed command selection 1(not implemented yet)
2278
2279 14:INSPD2, Internal speed command selection 2(not implemented yet)
2280
2281 15:INSPD3, Internal speed command selection 3(not implemented yet)
2282
2283 16: J-SEL, Inertia ratio switch(not implemented yet)
2284 )))|(((
2285 -
2286 )))
2287 |(% style="width:68px" %)(((
2288 P6-18
2289 )))|(% style="width:163px" %)(((
2290 DI_6 logic selection
2291 )))|(% style="width:79px" %)(((
2292 △
2293 )))|(% style="width:69px" %)(((
2294 0
2295 )))|(% style="width:83px" %)(((
2296 0-1
2297 )))|(% style="width:572px" %)(((
2298 DI port input logic validity function selection.
2299
2300 0: Normal open input. Active when off (switch closed).
2301
2302 1: Normal closed input. Active when on (switch open).
2303 )))|(((
2304 -
2305 )))
2306 |(% style="width:68px" %)(((
2307 P6-19
2308 )))|(% style="width:163px" %)(((
2309 DI_6 input source selection
2310 )))|(% style="width:79px" %)(((
2311 ▲
2312 )))|(% style="width:69px" %)(((
2313 0
2314 )))|(% style="width:83px" %)(((
2315 0-1
2316 )))|(% style="width:572px" %)(((
2317 0: Hardware DI6
2318
2319 1: VDI6
2320 )))|(((
2321 -
2322 )))
2323 |(% style="width:68px" %)(((
2324 P6-20
2325 )))|(% style="width:163px" %)(((
2326 DI_7 function selection
2327 )))|(% style="width:79px" %)(((
2328 △
2329 )))|(% style="width:69px" %)(((
2330 -
2331 )))|(% style="width:83px" %)(((
2332 0-16
2333 )))|(% style="width:572px" %)(((
2334 1: SON, Servo ON
2335
2336 2: A-CLR, Fault and warning clear
2337
2338 3: POT, Forward limit switch
2339
2340 4: NOT, Reverse limit switch
2341
2342 5: ZCLAMP, Zero speed clamp
2343
2344 6: CL, Clear the position deviation
2345
2346 7: C-SIGN, Instruction negation
2347
2348 8: E-STOP, Emergency stop
2349
2350 9: GEAR-SEL, Electronic gear switching 1
2351
2352 10: GAIN-SEL, Gain switch
2353
2354 11: INH, Position reference inhibited
2355
2356 12: VSSEL, Damer control switch(not implemented yet)
2357
2358 13: INSPD1, Internal speed command selection 1(not implemented yet)
2359
2360 14: INSPD2, Internal speed command selection 2(not implemented yet)
2361
2362 15: INSPD3, Internal speed command selection 3(not implemented yet)
2363
2364 16: J-SEL, Inertia ratio switch(not implemented yet)
2365 )))|(((
2366 -
2367 )))
2368 |(% style="width:68px" %)(((
2369 P6-21
2370 )))|(% style="width:163px" %)(((
2371 DI_7 logic selection
2372 )))|(% style="width:79px" %)(((
2373 △
2374 )))|(% style="width:69px" %)(((
2375 0
2376 )))|(% style="width:83px" %)(((
2377 0-1
2378 )))|(% style="width:572px" %)(((
2379 DI port input logic validity function selection.
2380
2381 0: Normal open input. Active when off (switch closed).
2382
2383 1: Normal closed input. Active when on (switch open).
2384 )))|(((
2385 -
2386 )))
2387 |(% style="width:68px" %)(((
2388 P6-22
2389 )))|(% style="width:163px" %)(((
2390 DI_7 input source selection
2391 )))|(% style="width:79px" %)(((
2392 ▲
2393 )))|(% style="width:69px" %)(((
2394 0
2395 )))|(% style="width:83px" %)(((
2396 0-1
2397 )))|(% style="width:572px" %)(((
2398 0: Hardware DI7
2399
2400 1: VDI7
2401 )))|(((
2402 -
2403 )))
2404 |(% style="width:68px" %)(((
2405 P6-23
2406 )))|(% style="width:163px" %)(((
2407 DI_8 function selection
2408 )))|(% style="width:79px" %)(((
2409 △
2410 )))|(% style="width:69px" %)(((
2411 -
2412 )))|(% style="width:83px" %)(((
2413 0-16
2414 )))|(% style="width:572px" %)(((
2415 1: SON, Servo ON
2416
2417 2: A-CLR, Fault and warning clear
2418
2419 3: POT, Forward limit switch
2420
2421 4: NOT, Reverse limit switch
2422
2423 5: ZCLAMP, Zero speed clamp
2424
2425 6: CL, Clear the position deviation
2426
2427 7: C-SIGN, Instruction negation
2428
2429 8: E-STOP, Emergency stop
2430
2431 9: GEAR-SEL, Electronic gear switching 1
2432
2433 10: GAIN-SEL, Gain switch
2434
2435 11: INH, Position reference inhibited
2436
2437 12: VSSEL, Damer control switch(not implemented yet)
2438
2439 13: INSPD1, Internal speed command selection 1(not implemented yet)
2440
2441 14: INSPD2, Internal speed command selection 2(not implemented yet)
2442
2443 15: INSPD3, Internal speed command selection 3(not implemented yet)
2444
2445 16: J-SEL, Inertia ratio switch(not implemented yet)
2446 )))|(((
2447 -
2448 )))
2449 |(% style="width:68px" %)(((
2450 P6-24
2451 )))|(% style="width:163px" %)(((
2452 DI_8 logic selection
2453 )))|(% style="width:79px" %)(((
2454 △
2455 )))|(% style="width:69px" %)(((
2456 0
2457 )))|(% style="width:83px" %)(((
2458 0-1
2459 )))|(% style="width:572px" %)(((
2460 DI port input logic validity function selection.
2461
2462 0: Normal open input. Active when off (switch closed).
2463
2464 1: Normal closed input. Active when on (switch open).
2465 )))|(((
2466 -
2467 )))
2468 |(% style="width:68px" %)(((
2469 P6-25
2470 )))|(% style="width:163px" %)(((
2471 DI_8 input source selection
2472 )))|(% style="width:79px" %)(((
2473 ▲
2474 )))|(% style="width:69px" %)(((
2475 0
2476 )))|(% style="width:83px" %)(((
2477 0-1
2478 )))|(% style="width:572px" %)(((
2479 0: Hardware DI8
2480
2481 1: VDI8
2482 )))|(((
2483 -
2484 )))
2485 |(% style="width:68px" %)(((
2486 P6-26
2487 )))|(% style="width:163px" %)(((
2488 DO_1 function selection
2489 )))|(% style="width:79px" %)(((
2490 △
2491 )))|(% style="width:69px" %)(((
2492 132
2493 )))|(% style="width:83px" %)(((
2494 128~~142
2495 )))|(% style="width:572px" %)(((
2496 129-RDY Servo Ready
2497
2498 130-ALM Alarm
2499
2500 131-WARN Warning
2501
2502 132-TGON Motor rotation output
2503
2504 133-ZSP Zero speed signal
2505
2506 134-P-COIN Positioning completed
2507
2508 135-P-NEAR Positioning near
2509
2510 136-V-COIN Speed consistent
2511
2512 137-V-NEAR Speed near
2513
2514 138-T-COIN Torque reached
2515
2516 139-T-LIMIT Torque limit
2517
2518 140-V-LIMIT Speed limit
2519
2520 141-BRK-OFF Solenoid brake
2521
2522 (not implemented yet)
2523
2524 142-SRV-ST Enable Servo status output
2525 )))|(((
2526 -
2527 )))
2528 |(% style="width:68px" %)(((
2529 P6-27
2530 )))|(% style="width:163px" %)(((
2531 DO_1 logic selection
2532 )))|(% style="width:79px" %)(((
2533 △
2534 )))|(% style="width:69px" %)(((
2535 0
2536 )))|(% style="width:83px" %)(((
2537 0~~1
2538 )))|(% style="width:572px" %)(((
2539 Output logic function selection. ★
2540
2541 ~1. Set to 0:
2542
2543 When the signal is valid, the output transistor is on.
2544
2545 When the signal is invalid, the output transistor is off.
2546
2547 2. Set to 1:
2548
2549 When the signal is valid, the output transistor is off.
2550
2551 When the signal is invalid, the output transistor is on.
2552 )))|(((
2553 -
2554 )))
2555 |(% style="width:68px" %)(((
2556 P6-28
2557 )))|(% style="width:163px" %)(((
2558 DO_2 function selection
2559 )))|(% style="width:79px" %)(((
2560 △
2561 )))|(% style="width:69px" %)(((
2562 130
2563 )))|(% style="width:83px" %)(((
2564 128~~142
2565 )))|(% style="width:572px" %)(((
2566 129-RDY Servo Ready
2567
2568 130-ALM Alarm
2569
2570 131-WARN Warning
2571
2572 132-TGON Motor rotation output
2573
2574 133-ZSP Zero speed signal
2575
2576 134-P-COIN Positioning completed
2577
2578 135-P-NEAR Positioning near
2579
2580 136-V-COIN Speed consistent
2581
2582 137-V-NEAR Speed near
2583
2584 138-T-COIN Torque reached
2585
2586 139-T-LIMIT Torque limit
2587
2588 140-V-LIMIT Speed limit
2589
2590 141-BRK-OFF Solenoid brake
2591
2592 (not implemented yet)
2593
2594 142-SRV-ST Enable Servo status output
2595 )))|(((
2596 -
2597 )))
2598 |(% style="width:68px" %)(((
2599 P6-29
2600 )))|(% style="width:163px" %)(((
2601 DO_2 logic selection
2602 )))|(% style="width:79px" %)(((
2603 △
2604 )))|(% style="width:69px" %)(((
2605 0
2606 )))|(% style="width:83px" %)(((
2607 0~~1
2608 )))|(% style="width:572px" %)(((
2609 Output logic function selection. ★
2610
2611 ~1. Set to 0:
2612
2613 When the signal is valid, the output transistor is on.
2614
2615 When the signal is invalid, the output transistor is off.
2616
2617 2. Set to 1:
2618
2619 When the signal is valid, the output transistor is off.
2620
2621 When the signal is invalid, the output transistor is on.
2622 )))|(((
2623 -
2624 )))
2625 |(% style="width:68px" %)(((
2626 P6-30
2627 )))|(% style="width:163px" %)(((
2628 DO_3 function selection
2629 )))|(% style="width:79px" %)(((
2630 △
2631 )))|(% style="width:69px" %)(((
2632 129
2633 )))|(% style="width:83px" %)(((
2634 128~~142
2635 )))|(% style="width:572px" %)(((
2636 129-RDY Servo Ready
2637
2638 130-ALM Alarm
2639
2640 131-WARN Warning
2641
2642 132-TGON Motor rotation output
2643
2644 133-ZSP Zero speed signal
2645
2646 134-P-COIN Positioning completed
2647
2648 135-P-NEAR Positioning near
2649
2650 136-V-COIN Speed consistent
2651
2652 137-V-NEAR Speed near
2653
2654 138-T-COIN Torque reached
2655
2656 139-T-LIMIT Torque limit
2657
2658 140-V-LIMIT Speed limit
2659
2660 141-BRK-OFF Solenoid brake
2661
2662 (not implemented yet)
2663
2664 142-SRV-ST Enable Servo status output
2665 )))|(((
2666 -
2667 )))
2668 |(% style="width:68px" %)(((
2669 P6-31
2670 )))|(% style="width:163px" %)(((
2671 DO_3 logic selection
2672 )))|(% style="width:79px" %)(((
2673 △
2674 )))|(% style="width:69px" %)(((
2675 0
2676 )))|(% style="width:83px" %)(((
2677 0~~1
2678 )))|(% style="width:572px" %)(((
2679 Output logic function selection. ★
2680
2681 ~1. Set to 0:
2682
2683 When the signal is valid, the output transistor is on.
2684
2685 When the signal is invalid, the output transistor is off.
2686
2687 2. Set to 1:
2688
2689 When the signal is valid, the output transistor is off.
2690
2691 When the signal is invalid, the output transistor is on.
2692 )))|(((
2693 -
2694 )))
2695 |(% style="width:68px" %)(((
2696 P6-32
2697 )))|(% style="width:163px" %)(((
2698 DO_4 function selection
2699 )))|(% style="width:79px" %)(((
2700 △
2701 )))|(% style="width:69px" %)(((
2702 134
2703 )))|(% style="width:83px" %)(((
2704 128~~142
2705 )))|(% style="width:572px" %)(((
2706 129-RDY Servo Ready
2707
2708 130-ALM Alarm
2709
2710 131-WARN Warning
2711
2712 132-TGON Motor rotation output
2713
2714 133-ZSP Zero speed signal
2715
2716 134-P-COIN Positioning completed
2717
2718 135-P-NEAR Positioning near
2719
2720 136-V-COIN Speed consistent
2721
2722 137-V-NEAR Speed near
2723
2724 138-T-COIN Torque reached
2725
2726 139-T-LIMIT Torque limit
2727
2728 140-V-LIMIT Speed limit
2729
2730 141-BRK-OFF Solenoid brake
2731
2732 (not implemented yet)
2733
2734 142-SRV-ST Enable Servo status output
2735 )))|(((
2736 -
2737 )))
2738 |(% style="width:68px" %)(((
2739 P6-33
2740 )))|(% style="width:163px" %)(((
2741 DO_4 logic selection
2742 )))|(% style="width:79px" %)(((
2743 △
2744 )))|(% style="width:69px" %)(((
2745 0
2746 )))|(% style="width:83px" %)(((
2747 0~~1
2748 )))|(% style="width:572px" %)(((
2749 Output logic function selection. ★
2750
2751 ~1. Set to 0:
2752
2753 When the signal is valid, the output transistor is on.
2754
2755 When the signal is invalid, the output transistor is off.
2756
2757 2. Set to 1:
2758
2759 When the signal is valid, the output transistor is off.
2760
2761 When the signal is invalid, the output transistor is on.
2762 )))|(((
2763 -
2764 )))
2765
2766 {{info}}
2767 **✎Note: ** Explanation of output logic selection (take P6-27 as an example)
2768
2769 When P6-27 is set to 0
2770
2771 If the function of P6-26 is selected as [fault signal], it means when DO-1 appears a fault signal, the output transistor is turned on. when DO-1 does not appear a fault signal, the output transistor is turned off.
2772
2773 If the function selection of P6-26 is [Positioning completed], it means that: when the positioning of DO-1 is completed, the output transistor is turned on. when the positioning of DO-1 is not completed, the output transistor is turned off.
2774 {{/info}}
2775
2776 **Similarly:**
2777
2778 When P6-27 is set to 1
2779
2780 If the function of P6-26 is selected as [fault signal], it means when DO-1 appears a fault signal, the output transistor is turned off. when DO-1 does not appear a fault signal, the output transistor is turned on.
2781
2782 If the function selection of P6-26 is [Positioning completed],** it means that:**when the positioning of DO-1 is completed, the output transistor is turned off. when the positioning of DO-1 is not completed, the output transistor is turned on.
2783
2784 = **Auxiliary Function Parameter** =
2785
2786 (% class="table-bordered" %)
2787 |=(% style="width: 78px;" %)(((
2788 **Code**
2789 )))|=(% style="width: 116px;" %)(((
2790 **Function**
2791 )))|=(% style="width: 77px;" %)(((
2792 **Effective time**
2793 )))|=(% style="width: 66px;" %)(((
2794 **Default**
2795 )))|=(% style="width: 97px;" %)(((
2796 **Range**
2797 )))|=(% style="width: 603px;" %)(((
2798 **Description**
2799 )))|=(((
2800 **Unit**
2801 )))
2802 |(% style="width:78px" %)(((
2803 P10-1
2804 )))|(% style="width:116px" %)(((
2805 JOG speed
2806 )))|(% style="width:77px" %)(((
2807 ▲
2808 )))|(% style="width:66px" %)(((
2809 100
2810 )))|(% style="width:97px" %)(((
2811 0-3000
2812 )))|(% style="width:603px" %)(((
2813 JOG speed
2814 )))|(((
2815 rpm
2816 )))
2817 |(% style="width:78px" %)(((
2818 P10-2
2819 )))|(% style="width:116px" %)(((
2820 Restore factory setting
2821 )))|(% style="width:77px" %)(((
2822 ●
2823 )))|(% style="width:66px" %)(((
2824 0
2825 )))|(% style="width:97px" %)(((
2826 0-1
2827 )))|(% style="width:603px" %)(((
2828 Write 1 to restore setting
2829 )))|(((
2830 -
2831 )))
2832 |(% style="width:78px" %)(((
2833 P10-4
2834 )))|(% style="width:116px" %)(((
2835 Motor overload protection time coefficient
2836 )))|(% style="width:77px" %)(((
2837 ▲
2838 )))|(% style="width:66px" %)(((
2839 100
2840 )))|(% style="width:97px" %)(((
2841 50-300
2842 )))|(% style="width:603px" %)(((
2843 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.
2844 )))|(((
2845 %
2846 )))
2847
2848 = **Communication Parameter** =
2849
2850 (% class="table-bordered" %)
2851 |=(% style="width: 78px;" %)(((
2852 **Code**
2853 )))|=(% style="width: 305px;" %)(((
2854 **Function**
2855 )))|=(% style="width: 93px;" %)(((
2856 **Effective time**
2857 )))|=(% style="width: 75px;" %)(((
2858 **Default**
2859 )))|=(% style="width: 89px;" %)(((
2860 **Range**
2861 )))|=(% style="width: 436px;" %)(((
2862 **Description**
2863 )))
2864 |(% style="width:78px" %)(((
2865 P12-1
2866 )))|(% style="width:305px" %)(((
2867 RS485 station NO.
2868 )))|(% style="width:93px" %)(((
2869 ▲
2870 )))|(% style="width:75px" %)(((
2871 1
2872 )))|(% style="width:89px" %)(((
2873 1-247
2874 )))|(% style="width:436px" %)(((
2875 Servo RS485 communication station number and address
2876 )))
2877 |(% style="width:78px" %)(((
2878 P12-2
2879 )))|(% style="width:305px" %)(((
2880 Baud rate
2881 )))|(% style="width:93px" %)(((
2882 ▲
2883 )))|(% style="width:75px" %)(((
2884 0
2885 )))|(% style="width:89px" %)(((
2886 0-5
2887 )))|(% style="width:436px" %)(((
2888 0: 2400bps. 1: 4800bps.
2889
2890 2: 9600bps. 3: 19200bps.
2891
2892 4: 38400bps. 5: 57600bps
2893 )))
2894 |(% style="width:78px" %)(((
2895 P12-3
2896 )))|(% style="width:305px" %)(((
2897 Serial port data format
2898 )))|(% style="width:93px" %)(((
2899 ▲
2900 )))|(% style="width:75px" %)(((
2901 0
2902 )))|(% style="width:89px" %)(((
2903 0-3
2904 )))|(% style="width:436px" %)(((
2905 0: 1 STOP bit, No check
2906
2907 1: 1 stop bit, odd check
2908
2909 2: 1 stop bit, even check
2910
2911 3: 2 stop bit, no check
2912 )))
2913 |(% style="width:78px" %)(((
2914 P12-4
2915 )))|(% style="width:305px" %)(((
2916 Write modbus communication data to EEPROM
2917 )))|(% style="width:93px" %)(((
2918 ▲
2919 )))|(% style="width:75px" %)(((
2920 0
2921 )))|(% style="width:89px" %)(((
2922 0-1
2923 )))|(% style="width:436px" %)(((
2924 0: Not write to EEPROM, volatile.
2925
2926 1: write to EEPROM, non-volatile.
2927 )))
2928
2929 = **VDI Parameter** =
2930
2931 (% class="table-bordered" %)
2932 |=(((
2933 **Code**
2934 )))|=(((
2935 **Function**
2936 )))|=(((
2937 **Effective time**
2938 )))|=(((
2939 **Default**
2940 )))|=(((
2941 **Range**
2942 )))|=(((
2943 **Description**
2944 )))
2945 |(((
2946 P13-1
2947 )))|(((
2948 Virtual VDI_1 input value
2949 )))|(((
2950 ▲
2951 )))|(((
2952 0
2953 )))|(((
2954 0-1
2955 )))|(((
2956 VDI1 input level:
2957
2958 0: low level. 1: high level.
2959 )))
2960 |(((
2961 P13-2
2962 )))|(((
2963 Virtual VDI_2 input value
2964 )))|(((
2965 ▲
2966 )))|(((
2967 0
2968 )))|(((
2969 0-1
2970 )))|(((
2971 VDI2 input level:
2972
2973 0: low level. 1: high level.
2974 )))
2975 |(((
2976 P13-3
2977 )))|(((
2978 Virtual VDI_3 input value
2979 )))|(((
2980 ▲
2981 )))|(((
2982 0
2983 )))|(((
2984 0-1
2985 )))|(((
2986 VDI3 input level:
2987
2988 0: low level. 1: high level.
2989 )))
2990 |(((
2991 P13-4
2992 )))|(((
2993 Virtual VDI_4 input value
2994 )))|(((
2995 ▲
2996 )))|(((
2997 0
2998 )))|(((
2999 0-1
3000 )))|(((
3001 VDI4 input level:
3002
3003 0: low level. 1: high level.
3004 )))
3005 |(((
3006 P13-5
3007 )))|(((
3008 Virtual VDI_5 input value
3009 )))|(((
3010 ▲
3011 )))|(((
3012 0
3013 )))|(((
3014 0-1
3015 )))|(((
3016 VDI5 input level:
3017
3018 0: low level. 1: high level.
3019 )))
3020 |(((
3021 P13-6
3022 )))|(((
3023 Virtual VDI_6 input value
3024 )))|(((
3025 ▲
3026 )))|(((
3027 0
3028 )))|(((
3029 0-1
3030 )))|(((
3031 VDI6 input level:
3032
3033 0: low level. 1: high level.
3034 )))
3035 |(((
3036 P13-7
3037 )))|(((
3038 Virtual VDI_7 input value
3039 )))|(((
3040 ▲
3041 )))|(((
3042 0
3043 )))|(((
3044 0-1
3045 )))|(((
3046 VDI7 input level:
3047
3048 0: low level. 1: high level.
3049 )))
3050 |(((
3051 P13-8
3052 )))|(((
3053 Virtual VDI_8 input value
3054 )))|(((
3055 ▲
3056 )))|(((
3057 0
3058 )))|(((
3059 0-1
3060 )))|(((
3061 VDI8 input level:
3062
3063 0: low level. 1: high level.
3064 )))
3065
3066 = **Monitoring Parameter** =
3067
3068 (% class="table-bordered" %)
3069 |=(((
3070 **Code**
3071 )))|=(((
3072 **Type**
3073 )))|=(((
3074 **Function**
3075 )))|=(((
3076 **Unit**
3077 )))|=(((
3078 **Data format**
3079 )))
3080 |(((
3081 U0-01
3082 )))|(((
3083 General
3084 )))|(((
3085 Servo state
3086 )))|(((
3087 -
3088 )))|(((
3089 int16_t
3090 )))
3091 |(((
3092 U0-02
3093 )))|(((
3094 General
3095 )))|(((
3096 Servo motor speed
3097 )))|(((
3098 rpm
3099 )))|(((
3100 int16_t
3101 )))
3102 |(((
3103 U0-03
3104 )))|(((
3105 General
3106 )))|(((
3107 Enter speed command
3108 )))|(((
3109 rpm
3110 )))|(((
3111 int16_t
3112 )))
3113 |(((
3114 U0-04
3115 )))|(((
3116 General
3117 )))|(((
3118 Speed corresponding to input position reference
3119 )))|(((
3120 rpm
3121 )))|(((
3122 int16_t
3123 )))
3124 |(((
3125 U0-05
3126 )))|(((
3127 General
3128 )))|(((
3129 Pulse deviation
3130 )))|(((
3131 Pul
3132 )))|(((
3133 int32_t
3134 )))
3135 |(((
3136 U0-07
3137 )))|(((
3138 General
3139 )))|(((
3140 Pulse deviation *10000
3141 )))|(((
3142 Pul
3143 )))|(((
3144 int32_t
3145 )))
3146 |(((
3147 U0-09
3148 )))|(((
3149 General
3150 )))|(((
3151 input pulse number
3152 )))|(((
3153 Pul
3154 )))|(((
3155 int32_t
3156 )))
3157 |(((
3158 U0-11
3159 )))|(((
3160 General
3161 )))|(((
3162 input pulse number *10000
3163 )))|(((
3164 Pul
3165 )))|(((
3166 int32_t
3167 )))
3168 |(((
3169 U0-13
3170 )))|(((
3171 General
3172 )))|(((
3173 Encoder accumulative position
3174 )))|(((
3175 Pul
3176 )))|(((
3177 int32_t
3178 )))
3179 |(((
3180 U0-15
3181 )))|(((
3182 General
3183 )))|(((
3184 Encoder accumulative position *10000
3185 )))|(((
3186 Pul
3187 )))|(((
3188 int32_t
3189 )))
3190 |(((
3191 U0-17
3192 )))|(((
3193 General
3194 )))|(((
3195 DI input signal state
3196 )))|(((
3197 -
3198 )))|(((
3199 uint32_t
3200 )))
3201 |(((
3202 U0-19
3203 )))|(((
3204 General
3205 )))|(((
3206 DO output signal state
3207 )))|(((
3208 -
3209 )))|(((
3210 uint32_t
3211 )))
3212 |(((
3213 U0-21
3214 )))|(((
3215 General
3216 )))|(((
3217 AI1 input voltage value
3218 )))|(((
3219 V
3220 )))|(((
3221 int16_t
3222 )))
3223 |(((
3224 U0-22
3225 )))|(((
3226 General
3227 )))|(((
3228 AI2 input voltage value
3229 )))|(((
3230 V
3231 )))|(((
3232 int16_t
3233 )))
3234 |(((
3235 U0-23
3236 )))|(((
3237 General
3238 )))|(((
3239 Vibration frequency
3240 )))|(((
3241 Hz
3242 )))|(((
3243 uint16_t
3244 )))
3245 |(((
3246 U0-24
3247 )))|(((
3248 General
3249 )))|(((
3250 Vibration amplitude
3251 )))|(((
3252 rpm
3253 )))|(((
3254 uint16_t
3255 )))
3256 |(((
3257 U0-25
3258 )))|(((
3259 General
3260 )))|(((
3261 Forward torque limitation
3262 )))|(((
3263 %
3264 )))|(((
3265 int16_t
3266 )))
3267 |(((
3268 U0-26
3269 )))|(((
3270 General
3271 )))|(((
3272 Backward torque limitation
3273 )))|(((
3274 %
3275 )))|(((
3276 int16_t
3277 )))
3278 |(((
3279 U0-27
3280 )))|(((
3281 General
3282 )))|(((
3283 Forward speed limitation
3284 )))|(((
3285 rpm
3286 )))|(((
3287 int16_t
3288 )))
3289 |(((
3290 U0-28
3291 )))|(((
3292 General
3293 )))|(((
3294 Backward speed limitation
3295 )))|(((
3296 rpm
3297 )))|(((
3298 int16_t
3299 )))
3300 |(((
3301 U0-29
3302 )))|(((
3303 General
3304 )))|(((
3305 Mechanical angle
3306 )))|(((
3307 °
3308 )))|(((
3309 int16_t
3310 )))
3311 |(((
3312 U0-30
3313 )))|(((
3314 General
3315 )))|(((
3316 Electric angle
3317 )))|(((
3318 °
3319 )))|(((
3320 int16_t
3321 )))
3322 |(((
3323 U0-31
3324 )))|(((
3325 General
3326 )))|(((
3327 Bus voltage
3328 )))|(((
3329 V
3330 )))|(((
3331 uint16_t
3332 )))
3333 |(((
3334 U0-32
3335 )))|(((
3336 General
3337 )))|(((
3338 Module temperature
3339 )))|(((
3340 ℃
3341 )))|(((
3342 int16_t
3343 )))
3344 |(((
3345 U0-33
3346 )))|(((
3347 General
3348 )))|(((
3349 Instantaneous output power
3350 )))|(((
3351 W
3352 )))|(((
3353 int32_t
3354 )))
3355 |(((
3356 U0-35
3357 )))|(((
3358 General
3359 )))|(((
3360 Total power-on time: hour
3361 )))|(((
3362 h
3363 )))|(((
3364 uint32_t
3365 )))
3366 |(((
3367 U0-37
3368 )))|(((
3369 General
3370 )))|(((
3371 Total power-on time:min
3372 )))|(((
3373 min
3374 )))|(((
3375 uint16_t
3376 )))
3377 |(((
3378 U0-38
3379 )))|(((
3380 General
3381 )))|(((
3382 Total power-on time:sec
3383 )))|(((
3384 s
3385 )))|(((
3386 uint16_t
3387 )))
3388 |(((
3389 U0-39
3390 )))|(((
3391 General
3392 )))|(((
3393 Output load percentage
3394 )))|(((
3395 %
3396 )))|(((
3397 uint16_t
3398 )))
3399 |(((
3400 U0-40
3401 )))|(((
3402 General
3403 )))|(((
3404 Power-on time: hour
3405 )))|(((
3406 h
3407 )))|(((
3408 uint32_t
3409 )))
3410 |(((
3411 U0-42
3412 )))|(((
3413 General
3414 )))|(((
3415 Power-on time: min
3416 )))|(((
3417 min
3418 )))|(((
3419 uint16_t
3420 )))
3421 |(((
3422 U0-43
3423 )))|(((
3424 General
3425 )))|(((
3426 Power-on time: sec
3427 )))|(((
3428 s
3429 )))|(((
3430 uint16_t
3431 )))
3432 |(((
3433 U0-44
3434 )))|(((
3435 General
3436 )))|(((
3437 Instantaneous braking resistance power
3438 )))|(((
3439 W
3440 )))|(((
3441 uint32_t
3442 )))
3443 |(((
3444 U0-46
3445 )))|(((
3446 General
3447 )))|(((
3448 Average braking resistance power
3449 )))|(((
3450 W
3451 )))|(((
3452 uint32_t
3453 )))
3454 |(((
3455 U0-48
3456 )))|(((
3457 Device
3458 )))|(((
3459 Power-on times
3460 )))|(((
3461 times
3462 )))|(((
3463 uint32_t
3464 )))
3465 |(((
3466 U0-50
3467 )))|(((
3468 Device
3469 )))|(((
3470 Motor cumulative turns (x1)
3471 )))|(((
3472 Revolution
3473 )))|(((
3474 uint16_t
3475 )))
3476 |(((
3477 U0-51
3478 )))|(((
3479 Device
3480 )))|(((
3481 Motor cumulative turns (x10e4)
3482 )))|(((
3483 Revolution
3484 )))|(((
3485 uint16_t
3486 )))
3487 |(((
3488 U0-52
3489 )))|(((
3490 Device
3491 )))|(((
3492 Motor cumulative turns (x10e8)
3493 )))|(((
3494 Revolution
3495 )))|(((
3496 uint16_t
3497 )))
3498 |(((
3499 U0-53
3500 )))|(((
3501 Device
3502 )))|(((
3503 Motor model code
3504 )))|(((
3505 -
3506 )))|(((
3507 uint16_t
3508 )))
3509 |(((
3510 U1-01
3511 )))|(((
3512 Alarm
3513 )))|(((
3514 Current fault code
3515 )))|(((
3516 -
3517 )))|(((
3518 uint16_t
3519 )))
3520 |(((
3521 U1-02
3522 )))|(((
3523 Alarm
3524 )))|(((
3525 Current alarm code
3526 )))|(((
3527 -
3528 )))|(((
3529 uint16_t
3530 )))
3531 |(((
3532 U1-03
3533 )))|(((
3534 Alarm
3535 )))|(((
3536 phase U current upon displayed fault
3537 )))|(((
3538 A
3539 )))|(((
3540 int16_t
3541 )))
3542 |(((
3543 U1-04
3544 )))|(((
3545 Alarm
3546 )))|(((
3547 phase V current upon displayed fault
3548 )))|(((
3549 A
3550 )))|(((
3551 int16_t
3552 )))
3553 |(((
3554 U1-05
3555 )))|(((
3556 Alarm
3557 )))|(((
3558 Bus voltage upon displayed fault
3559 )))|(((
3560 V
3561 )))|(((
3562 uint16_t
3563 )))
3564 |(((
3565 U1-06
3566 )))|(((
3567 Alarm
3568 )))|(((
3569 IGBT temperature upon displayed fault
3570 )))|(((
3571 ℃
3572 )))|(((
3573 int16_t
3574 )))
3575 |(((
3576 U1-07
3577 )))|(((
3578 Alarm
3579 )))|(((
3580 Torque component when fault occured
3581 )))|(((
3582 %
3583 )))|(((
3584 int16_t
3585 )))
3586 |(((
3587 U1-08
3588 )))|(((
3589 Alarm
3590 )))|(((
3591 Excitation component when fault occurred
3592 )))|(((
3593 %
3594 )))|(((
3595 int16_t
3596 )))
3597 |(((
3598 U1-09
3599 )))|(((
3600 Alarm
3601 )))|(((
3602 Position deviation when fault occurred
3603 )))|(((
3604 Pul
3605 )))|(((
3606 int32_t
3607 )))
3608 |(((
3609 U1-11
3610 )))|(((
3611 Alarm
3612 )))|(((
3613 Speed value when fault occurred
3614 )))|(((
3615 rpm
3616 )))|(((
3617 int16_t
3618 )))
3619 |(((
3620 U1-12
3621 )))|(((
3622 Alarm
3623 )))|(((
3624 the time when fault occurred
3625 )))|(((
3626 s
3627 )))|(((
3628 uint32_t
3629 )))
3630 |(((
3631 U1-14
3632 )))|(((
3633 Alarm
3634 )))|(((
3635 Number of faults
3636 )))|(((
3637 -
3638 )))|(((
3639 uint16_t
3640 )))
3641 |(((
3642 U1-15
3643 )))|(((
3644 Alarm
3645 )))|(((
3646 Number of warnings
3647 )))|(((
3648 -
3649 )))|(((
3650 uint16_t
3651 )))
3652 |(((
3653 U1-16
3654 )))|(((
3655 Alarm
3656 )))|(((
3657 Total number of historical faults
3658 )))|(((
3659 -
3660 )))|(((
3661 uint16_t
3662 )))
3663 |(((
3664 U1-17
3665 )))|(((
3666 Alarm
3667 )))|(((
3668 Total number of historical alarm
3669 )))|(((
3670 -
3671 )))|(((
3672 uint16_t
3673 )))
3674 |(((
3675 U1-18
3676 )))|(((
3677 Alarm
3678 )))|(((
3679 Last 2nd fault code
3680 )))|(((
3681 -
3682 )))|(((
3683 uint16_t
3684 )))
3685 |(((
3686 U1-19
3687 )))|(((
3688 Alarm
3689 )))|(((
3690 Last 3rd fault code
3691 )))|(((
3692 -
3693 )))|(((
3694 uint16_t
3695 )))
3696 |(((
3697 U1-20
3698 )))|(((
3699 Alarm
3700 )))|(((
3701 Last 4th fault code
3702 )))|(((
3703 -
3704 )))|(((
3705 uint16_t
3706 )))
3707 |(((
3708 U1-21
3709 )))|(((
3710 Alarm
3711 )))|(((
3712 Last 5th fault code
3713 )))|(((
3714 -
3715 )))|(((
3716 uint16_t
3717 )))
3718 |(((
3719 U1-22
3720 )))|(((
3721 Alarm
3722 )))|(((
3723 Last 6th fault code
3724 )))|(((
3725 -
3726 )))|(((
3727 uint16_t
3728 )))
3729 |(((
3730 U1-23
3731 )))|(((
3732 Alarm
3733 )))|(((
3734 Last 2nd alarm code
3735 )))|(((
3736 -
3737 )))|(((
3738 uint16_t
3739 )))
3740 |(((
3741 U1-24
3742 )))|(((
3743 Alarm
3744 )))|(((
3745 Last 3rd alarm code
3746 )))|(((
3747 -
3748 )))|(((
3749 uint16_t
3750 )))
3751 |(((
3752 U1-25
3753 )))|(((
3754 Alarm
3755 )))|(((
3756 Last 4th alarm code
3757 )))|(((
3758 -
3759 )))|(((
3760 uint16_t
3761 )))
3762 |(((
3763 U1-26
3764 )))|(((
3765 Alarm
3766 )))|(((
3767 Last 5th alarm code
3768 )))|(((
3769 -
3770 )))|(((
3771 uint16_t
3772 )))
3773 |(((
3774 U1-27
3775 )))|(((
3776 Alarm
3777 )))|(((
3778 Last 6th alarm code
3779 )))|(((
3780 -
3781 )))|(((
3782 uint16_t
3783 )))
3784 |(((
3785 U2-01
3786 )))|(((
3787 Device
3788 )))|(((
3789 Product series
3790 )))|(((
3791 -
3792 )))|(((
3793 uint16_t
3794 )))
3795 |(((
3796 U2-02
3797 )))|(((
3798 Device
3799 )))|(((
3800 model
3801 )))|(((
3802 -
3803 )))|(((
3804 uint16_t
3805 )))
3806 |(((
3807 U2-03
3808 )))|(((
3809 Device
3810 )))|(((
3811 Model
3812 )))|(((
3813 -
3814 )))|(((
3815 uint16_t
3816 )))
3817 |(((
3818 U2-04
3819 )))|(((
3820 Device
3821 )))|(((
3822 Firmware version
3823 )))|(((
3824 -
3825 )))|(((
3826 uint16_t
3827 )))
3828 |(((
3829 U2-05
3830 )))|(((
3831 Device
3832 )))|(((
3833 Hardware version
3834 )))|(((
3835 -
3836 )))|(((
3837 uint16_t
3838 )))
3839 |(((
3840 U2-06
3841 )))|(((
3842 Device
3843 )))|(((
3844 date of manufacture:year
3845 )))|(((
3846 Year
3847 )))|(((
3848 uint16_t
3849 )))
3850 |(((
3851 U2-07
3852 )))|(((
3853 Device
3854 )))|(((
3855 date of manufacture:month
3856 )))|(((
3857 month
3858 )))|(((
3859 uint16_t
3860 )))
3861 |(((
3862 U2-08
3863 )))|(((
3864 Device
3865 )))|(((
3866 date of manufacture:day
3867 )))|(((
3868 Day
3869 )))|(((
3870 uint16_t
3871 )))
3872 |(((
3873 U2-09
3874 )))|(((
3875 Device
3876 )))|(((
3877 Device serial number 1
3878 )))|(((
3879 -
3880 )))|(((
3881 uint16_t
3882 )))
3883 |(((
3884 U2-10
3885 )))|(((
3886 Device
3887 )))|(((
3888 Device serial number 2
3889 )))|(((
3890 -
3891 )))|(((
3892 uint16_t
3893 )))
3894 |(((
3895 U2-11
3896 )))|(((
3897 Device
3898 )))|(((
3899 Device serial number 3
3900 )))|(((
3901 -
3902 )))|(((
3903 uint16_t
3904 )))
3905 |(((
3906 U2-12
3907 )))|(((
3908 Device
3909 )))|(((
3910 Device serial number 4
3911 )))|(((
3912 -
3913 )))|(((
3914 uint16_t
3915 )))
3916 |(((
3917 U2-13
3918 )))|(((
3919 Device
3920 )))|(((
3921 Device serial number 5
3922 )))|(((
3923 -
3924 )))|(((
3925 uint16_t
3926 )))
3927 |(((
3928 U2-14
3929 )))|(((
3930 Device
3931 )))|(((
3932 Device serial number 6
3933 )))|(((
3934 -
3935 )))|(((
3936 uint16_t
3937 )))
3938 |(((
3939 U2-15
3940 )))|(((
3941 Device
3942 )))|(((
3943 Device serial number 7
3944 )))|(((
3945 -
3946 )))|(((
3947 uint16_t
3948 )))
3949 |(((
3950 U2-16
3951 )))|(((
3952 Device
3953 )))|(((
3954 Device serial number 8
3955 )))|(((
3956 -
3957 )))|(((
3958 uint16_t
3959 )))
3960
3961