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Changes for page 06 Operation

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

Summary

Details

Page properties
Content
... ... @@ -2,6 +2,7 @@
2 2  
3 3  == **Check before operation** ==
4 4  
5 +
5 5  |**No.**|**Content**
6 6  |(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
7 7  |1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
... ... @@ -360,7 +360,7 @@
360 360  (% class="table-bordered" %)
361 361  |(((
362 362  (% style="text-align:center" %)
363 -[[image:image-20220611151617-1.png]]
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"]]
364 364  )))
365 365  |(((
366 366  ✎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;
... ... @@ -386,7 +386,7 @@
386 386  (% class="table-bordered" %)
387 387  |(((
388 388  (% style="text-align:center" %)
389 -[[image:image-20220611151642-2.png]]
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"]]
390 390  )))
391 391  |(((
392 392  ✎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.
... ... @@ -454,7 +454,7 @@
454 454  (% class="table-bordered" %)
455 455  |(((
456 456  (% style="text-align:center" %)
457 -[[image:image-20220611151705-3.png]]
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"]]
458 458  )))
459 459  |(((
460 460  ✎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.
... ... @@ -476,7 +476,7 @@
476 476  (% class="table-bordered" %)
477 477  |(((
478 478  (% style="text-align:center" %)
479 -[[image:image-20220611151719-4.png]]
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"]]
480 480  )))
481 481  |(((
482 482  ✎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.
... ... @@ -619,19 +619,19 @@
619 619  (% class="table-bordered" %)
620 620  |(% 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" %)(((
621 621  **Setting method**
622 -)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
623 +)))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
623 623  **Effective time**
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**
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**
625 625  |(% 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" %)(((
626 626  Shutdown setting
627 -)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
628 +)))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
628 628  Effective immediately
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
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
630 630  |(% 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" %)(((
631 631  Operation setting
632 -)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
633 +)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:159px" %)(((
633 633  Power-on again
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" %)(((
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" %)(((
635 635  Set the anti-interference level of external pulse instruction.
636 636  
637 637  0: no filtering;
... ... @@ -652,7 +652,7 @@
652 652  
653 653  8: Filtering time 16.384us
654 654  )))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
655 -|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
656 +|(% rowspan="2" style="width:29px" %)9|VD2: Filtering time 25.5us
656 656  |VD2F: Filtering time 25.5us
657 657  
658 658  Table 6-13 Position pulse frequency and anti-interference level parameters
... ... @@ -839,7 +839,7 @@
839 839  
840 840  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
841 841  
842 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
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"]]
843 843  |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
844 844  
845 845  3. DI switching running
... ... @@ -941,7 +941,7 @@
941 941  **Setting method**
942 942  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
943 943  **Effective time**
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**
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**
945 945  |(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
946 946  1st segment
947 947  
... ... @@ -950,7 +950,7 @@
950 950  Operation setting
951 951  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
952 952  Effective immediately
953 -)))|(% style="text-align:center; vertical-align:middle; width:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
954 +)))|(% style="text-align:center; vertical-align:middle; width:110px" %)10000|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
954 954  -2147483647 to
955 955  
956 956  2147483646
... ... @@ -959,17 +959,17 @@
959 959  Operation setting
960 960  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
961 961  Effective immediately
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
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
963 963  |(% 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" %)(((
964 964  Operation setting
965 965  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
966 966  Effective immediately
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
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
968 968  |(% 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" %)(((
969 969  Operation setting
970 970  )))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
971 971  Effective immediately
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
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
973 973  
974 974  Table 6-19 The 1st position operation curve parameters table
975 975  
... ... @@ -993,7 +993,7 @@
993 993  )))
994 994  
995 995  (% style="text-align:center" %)
996 -[[image:image-20220611152020-6.png]]
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"]]
997 997  
998 998  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!
999 999  
... ... @@ -1035,7 +1035,6 @@
1035 1035  
1036 1036  Step5: Calculate the value of electronic gear ratio according to formula below.
1037 1037  
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: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**
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**
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: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" %)(((
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" %)(((
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: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" %)-
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" %)-
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: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" %)-
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" %)-
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: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" %)-
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" %)-
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: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" %)-
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" %)-
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: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**
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**
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:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((
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" %)(((
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: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
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
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: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
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
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:224px" %)(((
1189 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1190 1190  **Effective time**
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**
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**
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:224px" %)(((
1194 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1195 1195  Effective immediately
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
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
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:224px" %)(((
1199 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1200 1200  Effective immediately
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
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
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:224px" %)(((
1204 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1205 1205  Effective immediately
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
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
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:224px" %)(((
1209 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1210 1210  Effective immediately
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
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
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:191px" %)(((
1264 +)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
1265 1265  **Effective time**
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**
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**
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:191px" %)(((
1271 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1272 1272  Effective immediately
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" %)(((
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" %)(((
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; width:259px" %)rpm
1286 -|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1285 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1286 +|(% style="text-align:center; vertical-align:middle; width:118px" %)-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:191px" %)(((
1291 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1292 1292  Effective immediately
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" %)(((
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" %)(((
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; width:259px" %)rpm
1306 -|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1305 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1306 +|(% style="text-align:center; vertical-align:middle; width:118px" %)-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:191px" %)(((
1311 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1312 1312  Effective immediately
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" %)(((
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" %)(((
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; width:259px" %)rpm
1326 -|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1325 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1326 +|(% style="text-align:center; vertical-align:middle; width:118px" %)-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:191px" %)(((
1331 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
1332 1332  Effective immediately
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" %)(((
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" %)(((
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; width:259px" %)rpm
1346 -|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1345 +)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1346 +|(% style="text-align:center; vertical-align:middle; width:118px" %)-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:175px" %)(((
1634 +)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
1635 1635  **Effective time**
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**
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**
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  
... ... @@ -1640,17 +1640,19 @@
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:175px" %)(((
1643 +)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
1644 1644  Effective immediately
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
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
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; 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" %)(((
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 +)))|(((
1654 1654  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1655 1655  
1656 1656  Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
... ... @@ -1672,14 +1672,14 @@
1672 1672  (% class="table-bordered" %)
1673 1673  |(% 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" %)(((
1674 1674  **Setting method**
1675 -)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1677 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1676 1676  **Effective time**
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**
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**
1678 1678  |(% 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" %)(((
1679 1679  Operation setting
1680 -)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1682 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1681 1681  Effective immediately
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
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
1683 1683  
1684 1684  Table 6-36 Zero-speed output signal threshold parameter
1685 1685  
... ... @@ -1707,12 +1707,12 @@
1707 1707  **Setting method**
1708 1708  )))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1709 1709  **Effective time**
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**
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**
1711 1711  |(% 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" %)(((
1712 1712  Operationsetting
1713 1713  )))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1714 1714  Effective immediately
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
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
1716 1716  
1717 1717  Table 6-38 Speed consistent signal threshold parameters
1718 1718  
... ... @@ -2074,12 +2074,12 @@
2074 2074  **Setting method**
2075 2075  )))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2076 2076  **Effective time**
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**
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**
2078 2078  |(% 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" %)(((
2079 2079  Shutdown setting
2080 2080  )))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2081 2081  Shutdown setting
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" %)(((
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" %)(((
2083 2083  1: Position control
2084 2084  
2085 2085  2: Speed control
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