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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 42.1
edited by Joey
on 2022/06/10 15:32
Change comment: There is no comment for this version
To version 43.1
edited by Joey
on 2022/06/11 15:24
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -2,7 +2,6 @@
2 2  
3 3  == **Check before operation** ==
4 4  
5 -
6 6  |**No.**|**Content**
7 7  |(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
8 8  |1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
... ... @@ -361,7 +361,7 @@
361 361  (% class="table-bordered" %)
362 362  |(((
363 363  (% style="text-align:center" %)
364 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
363 +[[image:image-20220611151617-1.png]]
365 365  )))
366 366  |(((
367 367  ✎The brake device is built into the servo motor, which is only used as a non-energized fixed special mechanism. It cannot be used for braking purposes, and can only be used when the servo motor is kept stopped;
... ... @@ -387,7 +387,7 @@
387 387  (% class="table-bordered" %)
388 388  |(((
389 389  (% style="text-align:center" %)
390 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
389 +[[image:image-20220611151642-2.png]]
391 391  )))
392 392  |(((
393 393  ✎The length of the motor brake cable needs to fully consider the voltage drop caused by the cable resistance, and the brake operation needs to ensure that the voltage input is 24V.
... ... @@ -455,7 +455,7 @@
455 455  (% class="table-bordered" %)
456 456  |(((
457 457  (% style="text-align:center" %)
458 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
457 +[[image:image-20220611151705-3.png]]
459 459  )))
460 460  |(((
461 461  ✎After the brake output is from OFF to ON, within P01-30, do not input position/speed/torque instructions, otherwise the instructions will be lost or operation errors will be caused.
... ... @@ -477,7 +477,7 @@
477 477  (% class="table-bordered" %)
478 478  |(((
479 479  (% style="text-align:center" %)
480 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
479 +[[image:image-20220611151719-4.png]]
481 481  )))
482 482  |(((
483 483  ✎When the servo enable is turned from OFF to ON, within P1-30, do not input position, speed or torque instructions, otherwise the instructions will be lost or operation errors will be caused.
... ... @@ -620,19 +620,19 @@
620 620  (% class="table-bordered" %)
621 621  |(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
622 622  **Setting method**
623 -)))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
622 +)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
624 624  **Effective time**
625 -)))|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:71px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:349px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
624 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
626 626  |(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
627 627  Shutdown setting
628 -)))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
627 +)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
629 629  Effective immediately
630 -)))|(% style="text-align:center; vertical-align:middle; width:105px" %)300|(% style="text-align:center; vertical-align:middle; width:71px" %)1 to 500|(% colspan="2" style="width:349px" %)Set the maximum frequency of external pulse instruction|KHz
629 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz
631 631  |(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((
632 632  Operation setting
633 -)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:159px" %)(((
632 +)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
634 634  Power-on again
635 -)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:105px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:71px" %)0 to 9|(% colspan="2" style="width:349px" %)(((
634 +)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((
636 636  Set the anti-interference level of external pulse instruction.
637 637  
638 638  0: no filtering;
... ... @@ -653,7 +653,7 @@
653 653  
654 654  8: Filtering time 16.384us
655 655  )))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
656 -|(% rowspan="2" style="width:29px" %)9|VD2: Filtering time 25.5us
655 +|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
657 657  |VD2F: Filtering time 25.5us
658 658  
659 659  Table 6-13 Position pulse frequency and anti-interference level parameters
... ... @@ -840,7 +840,7 @@
840 840  
841 841  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
842 842  
843 -|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
842 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
844 844  |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
845 845  
846 846  3. DI switching running
... ... @@ -942,7 +942,7 @@
942 942  **Setting method**
943 943  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
944 944  **Effective time**
945 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:143px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
944 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
946 946  |(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
947 947  1st segment
948 948  
... ... @@ -951,7 +951,7 @@
951 951  Operation setting
952 952  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
953 953  Effective immediately
954 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)10000|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
953 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
955 955  -2147483647 to
956 956  
957 957  2147483646
... ... @@ -960,17 +960,17 @@
960 960  Operation setting
961 961  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
962 962  Effective immediately
963 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
962 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
964 964  |(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
965 965  Operation setting
966 966  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
967 967  Effective immediately
968 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
967 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
969 969  |(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
970 970  Operation setting
971 971  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
972 972  Effective immediately
973 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
972 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
974 974  
975 975  Table 6-19 The 1st position operation curve parameters table
976 976  
... ... @@ -994,7 +994,7 @@
994 994  )))
995 995  
996 996  (% style="text-align:center" %)
997 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png" data-xwiki-image-style-alignment="center"]]
996 +[[image:image-20220611152020-6.png]]
998 998  
999 999  It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
1000 1000  
... ... @@ -1036,6 +1036,7 @@
1036 1036  
1037 1037  Step5: Calculate the value of electronic gear ratio according to formula below.
1038 1038  
1038 +(% style="text-align:center" %)
1039 1039  [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/38.png?rev=1.1]]
1040 1040  
1041 1041  **(3) lectronic gear ratio switch setting**
... ... @@ -1048,12 +1048,12 @@
1048 1048  **Setting method**
1049 1049  )))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1050 1050  **Effective time**
1051 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:127px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1051 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1052 1052  |(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1053 1053  Shutdown setting
1054 1054  )))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1055 1055  Effective immediately
1056 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)10000|(% style="text-align:center; vertical-align:middle; width:127px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
1056 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)10000|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
1057 1057  Instruction pulse
1058 1058  
1059 1059  unit
... ... @@ -1064,7 +1064,7 @@
1064 1064  numerator
1065 1065  )))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1066 1066  Effective immediately
1067 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1067 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1068 1068  |(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1069 1069  Electronic gear 1
1070 1070  
... ... @@ -1073,7 +1073,7 @@
1073 1073  Operation setting
1074 1074  )))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1075 1075  Effective immediately
1076 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1076 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1077 1077  |(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1078 1078  Electronic gear 2
1079 1079  
... ... @@ -1080,7 +1080,7 @@
1080 1080  numerator
1081 1081  )))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1082 1082  Effective immediately
1083 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1083 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1084 1084  |(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1085 1085  Electronic gear 2
1086 1086  
... ... @@ -1087,7 +1087,7 @@
1087 1087  denominator
1088 1088  )))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1089 1089  Effective immediately
1090 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1090 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1091 1091  
1092 1092  Table 6-20 Electronic gear ratio function code
1093 1093  
... ... @@ -1134,12 +1134,12 @@
1134 1134  **Setting method**
1135 1135  )))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1136 1136  **Effective time**
1137 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:93px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:280px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
1137 +)))|(% style="text-align:center; vertical-align:middle; width:123px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
1138 1138  |(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1139 1139  Shutdown setting
1140 1140  )))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1141 1141  Effective immediately
1142 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 1|(% style="width:280px" %)(((
1142 +)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((
1143 1143  0: 1st-order low-pass filtering
1144 1144  
1145 1145  1: average filtering
... ... @@ -1146,10 +1146,10 @@
1146 1146  )))|(% style="text-align:center; vertical-align:middle; width:72px" %)-
1147 1147  |(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1148 1148  Effective immediately
1149 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 1000|(% style="width:280px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1149 +)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1000|(% style="width:253px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1150 1150  |(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1151 1151  Effective immediately
1152 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 128|(% style="width:280px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1152 +)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 128|(% style="width:253px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1153 1153  
1154 1154  Table 6-23 Position instruction filter function code
1155 1155  
... ... @@ -1186,29 +1186,29 @@
1186 1186  (% class="table-bordered" %)
1187 1187  |(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1188 1188  **Setting method**
1189 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1189 +)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1190 1190  **Effective time**
1191 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:293px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1191 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:272px" %)**Unit**
1192 1192  |(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1193 1193  Operation setting
1194 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1194 +)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1195 1195  Effective immediately
1196 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)800|(% style="text-align:center; vertical-align:middle; width:100px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:293px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
1196 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)800|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
1197 1197  |(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1198 1198  Operation setting
1199 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1199 +)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1200 1200  Effective immediately
1201 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)5000|(% style="text-align:center; vertical-align:middle; width:100px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:293px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
1201 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)5000|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
1202 1202  |(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1203 1203  Operation setting
1204 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1204 +)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1205 1205  Effective immediately
1206 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)10|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:293px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle" %)ms
1206 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
1207 1207  |(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1208 1208  Operation setting
1209 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1209 +)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1210 1210  Effective immediately
1211 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)100|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:293px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle" %)ms
1211 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
1212 1212  
1213 1213  Table 6-24 Function code parameters of positioning completion
1214 1214  
... ... @@ -1261,16 +1261,16 @@
1261 1261  (% class="table-bordered" %)
1262 1262  |(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((
1263 1263  **Setting method**
1264 -)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
1264 +)))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
1265 1265  **Effective time**
1266 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:302px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1266 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Unit**
1267 1267  |(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1268 1268  Internal speed Instruction 0
1269 1269  )))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1270 1270  Operation setting
1271 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1271 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1272 1272  Effective immediately
1273 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1273 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1274 1274  Internal speed instruction 0
1275 1275  
1276 1276  When DI input port:
... ... @@ -1282,15 +1282,15 @@
1282 1282  13-INSPD1: 0,
1283 1283  
1284 1284  select this speed instruction to be effective.
1285 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1286 -|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1285 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
1286 +|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1287 1287  |(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1288 1288  Internal speed Instruction 1
1289 1289  )))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1290 1290  Operation setting
1291 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1291 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1292 1292  Effective immediately
1293 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1293 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1294 1294  Internal speed instruction 1
1295 1295  
1296 1296  When DI input port:
... ... @@ -1302,15 +1302,15 @@
1302 1302  13-INSPD1: 1,
1303 1303  
1304 1304  Select this speed instruction to be effective.
1305 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1306 -|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1305 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
1306 +|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1307 1307  |(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1308 1308  Internal speed Instruction 2
1309 1309  )))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1310 1310  Operation setting
1311 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1311 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1312 1312  Effective immediately
1313 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1313 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1314 1314  Internal speed instruction 2
1315 1315  
1316 1316  When DI input port:
... ... @@ -1322,15 +1322,15 @@
1322 1322  13-INSPD1: 0,
1323 1323  
1324 1324  Select this speed instruction to be effective.
1325 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1326 -|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1325 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
1326 +|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1327 1327  |(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1328 1328  Internal speed Instruction 3
1329 1329  )))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1330 1330  Operation setting
1331 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1331 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1332 1332  Effective immediately
1333 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1333 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1334 1334  Internal speed instruction 3
1335 1335  
1336 1336  When DI input port:
... ... @@ -1342,8 +1342,8 @@
1342 1342  13-INSPD1: 1,
1343 1343  
1344 1344  Select this speed instruction to be effective.
1345 -)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1346 -|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1345 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
1346 +|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1347 1347  
1348 1348  (% class="table-bordered" %)
1349 1349  |(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
... ... @@ -1631,9 +1631,9 @@
1631 1631  (% class="table-bordered" %)
1632 1632  |(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1633 1633  **Setting method**
1634 -)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
1634 +)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1635 1635  **Effective time**
1636 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:337px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1636 +)))|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Unit**
1637 1637  |(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1638 1638  Rotation detection
1639 1639  
... ... @@ -1640,19 +1640,17 @@
1640 1640  speed threshold
1641 1641  )))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1642 1642  Operation setting
1643 -)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
1643 +)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1644 1644  Effective immediately
1645 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)20|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:337px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1645 +)))|(% style="text-align:center; vertical-align:middle; width:126px" %)20|(% style="text-align:center; vertical-align:middle; width:113px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:382px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:237px" %)rpm
1646 1646  
1647 1647  Table 6-34 Rotation detection speed threshold parameters
1648 1648  
1649 1649  (% class="table-bordered" %)
1650 -|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
1651 -|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle" %)(((
1652 -T-COIN
1653 -
1654 -rotation detection
1655 -)))|(((
1650 +|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:879px" %)**Function**
1651 +|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle; width:421px" %)(((
1652 +T-COIN rotation detection
1653 +)))|(% style="width:879px" %)(((
1656 1656  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1657 1657  
1658 1658  Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
... ... @@ -1674,14 +1674,14 @@
1674 1674  (% class="table-bordered" %)
1675 1675  |(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1676 1676  **Setting method**
1677 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1675 +)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1678 1678  **Effective time**
1679 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:79px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:342px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1677 +)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:400px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Unit**
1680 1680  |(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1681 1681  Operation setting
1682 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1680 +)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1683 1683  Effective immediately
1684 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)10|(% style="text-align:center; vertical-align:middle; width:79px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:342px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1682 +)))|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:400px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:196px" %)rpm
1685 1685  
1686 1686  Table 6-36 Zero-speed output signal threshold parameter
1687 1687  
... ... @@ -1709,12 +1709,12 @@
1709 1709  **Setting method**
1710 1710  )))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1711 1711  **Effective time**
1712 -)))|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:76px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:288px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1710 +)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Unit**
1713 1713  |(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1714 1714  Operationsetting
1715 1715  )))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1716 1716  Effective immediately
1717 -)))|(% style="text-align:center; vertical-align:middle; width:105px" %)10|(% style="text-align:center; vertical-align:middle; width:76px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:288px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1715 +)))|(% style="text-align:center; vertical-align:middle; width:143px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:347px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:209px" %)rpm
1718 1718  
1719 1719  Table 6-38 Speed consistent signal threshold parameters
1720 1720  
... ... @@ -2076,12 +2076,12 @@
2076 2076  **Setting method**
2077 2077  )))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2078 2078  **Effective time**
2079 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:443px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2077 +)))|(% style="text-align:center; vertical-align:middle; width:144px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:408px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2080 2080  |(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2081 2081  Shutdown setting
2082 2082  )))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2083 2083  Shutdown setting
2084 -)))|(% style="text-align:center; vertical-align:middle; width:106px" %)1|(% style="text-align:center; vertical-align:middle; width:72px" %)1 to 6|(% style="width:443px" %)(((
2082 +)))|(% style="text-align:center; vertical-align:middle; width:144px" %)1|(% style="text-align:center; vertical-align:middle; width:97px" %)1 to 6|(% style="width:408px" %)(((
2085 2085  1: Position control
2086 2086  
2087 2087  2: Speed control
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