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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 85.1
edited by Mora Zhou
on 2025/04/28 14:26
Change comment: There is no comment for this version
To version 94.1
edited by Mora Zhou
on 2025/04/29 10:24
Change comment: There is no comment for this version

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Content
... ... @@ -698,18 +698,29 @@
698 698  )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
699 699  Set the anti-interference level of external pulse instruction.
700 700  
701 -* 0: no filtering;
702 -* 1: Filtering time 128ns
703 -* 2: Filtering time 256ns
704 -* 3: Filtering time 512ns
705 -* 4: Filtering time 1.024us
706 -* 5: Filtering time 2.048us
707 -* 6: Filtering time 4.096us
708 -* 7: Filtering time 8.192us
709 -* 8: Filtering time 16.384us
710 -* 9:
711 -** VD2: Filtering time 25.5us
712 -** VD2F: Filtering time 25.5us
701 +0: no filtering;
702 +
703 +1: Filtering time 128ns
704 +
705 +2: Filtering time 256ns
706 +
707 +3: Filtering time 512ns
708 +
709 +4: Filtering time 1.024us
710 +
711 +5: Filtering time 2.048us
712 +
713 +6: Filtering time 4.096us
714 +
715 +7: Filtering time 8.192us
716 +
717 +8: Filtering time 16.384us
718 +
719 +9:
720 +
721 +VD2: Filtering time 32.768us
722 +
723 +VD2F: Filtering time 25.5us
713 713  )))|(% rowspan="3" %)-
714 714  
715 715  Table 6-14 Position pulse frequency and anti-interference level parameters
... ... @@ -772,13 +772,18 @@
772 772  )))|(% style="width:109px" %)(((
773 773  Power-on again
774 774  )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
775 -* 0: direction + pulse (positive logic)
776 -* 1: CW/CCW
777 -* 2: A, B phase quadrature pulse (4 times frequency)
778 -* 3: Direction + pulse (negative logic)
779 -* 4: CW/CCW (negative logic)
780 -* 5: A, B phase quadrature pulse (4 times frequency negative logic)
786 +0: direction + pulse (positive logic)
781 781  
788 +1: CW/CCW
789 +
790 +2: A, B phase quadrature pulse (4 times frequency)
791 +
792 +3: Direction + pulse (negative logic)
793 +
794 +4: CW/CCW (negative logic)
795 +
796 +5: A, B phase quadrature pulse (4 times frequency negative logic)
797 +
782 782  **✎Note: VD2F and VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5**
783 783  )))|-
784 784  
... ... @@ -1275,8 +1275,9 @@
1275 1275  )))|(((
1276 1276  Effective immediately
1277 1277  )))|0|0 to 1|(((
1278 -* 0: 1st-order low-pass filtering
1279 -* 1: average filtering
1294 +0: 1st-order low-pass filtering
1295 +
1296 +1: average filtering
1280 1280  )))|-
1281 1281  |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1282 1282  Effective immediately
... ... @@ -1375,7 +1375,7 @@
1375 1375  
1376 1376  
1377 1377  |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1378 -|DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
1395 +|DO_2 channel function selection|Operation setting|Effective immediately|130|128-149|DI/DO|-
1379 1379  |(% colspan="8" %)(((
1380 1380  Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1381 1381  
... ... @@ -1390,7 +1390,7 @@
1390 1390  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1391 1391  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1392 1392  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1393 -|138|T-COIN (torque arrival)| | |
1410 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1394 1394  
1395 1395  When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1396 1396  
... ... @@ -1405,10 +1405,12 @@
1405 1405  ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1406 1406  
1407 1407  ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
1425 +
1426 +④VD2L does not support function code 149.
1408 1408  )))
1409 1409  
1410 1410  |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1411 -|DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
1430 +|DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|-
1412 1412  |(% colspan="8" %)(((
1413 1413  Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1414 1414  
... ... @@ -1423,7 +1423,7 @@
1423 1423  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1424 1424  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1425 1425  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1426 -|138|T-COIN (torque arrival)| | |
1445 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1427 1427  
1428 1428  When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1429 1429  
... ... @@ -1438,6 +1438,8 @@
1438 1438  ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1439 1439  
1440 1440  ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
1460 +
1461 +④VD2L does not support function code 149.
1441 1441  )))
1442 1442  
1443 1443  |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
... ... @@ -1456,7 +1456,7 @@
1456 1456  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1457 1457  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1458 1458  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1459 -|138|T-COIN (torque arrival)| | |
1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1460 1460  
1461 1461  When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1462 1462  
... ... @@ -1471,6 +1471,8 @@
1471 1471  ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1472 1472  
1473 1473  ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
1495 +
1496 +④VD2L does not support function code 149.
1474 1474  )))
1475 1475  
1476 1476  = **Speed control mode** =
... ... @@ -1497,8 +1497,9 @@
1497 1497  )))|(% style="width:125px" %)(((
1498 1498  Effective immediately
1499 1499  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1500 -* 0: internal speed instruction
1501 -* 1: AI_1 analog input (not supported by VD2F)
1523 +0: internal speed instruction
1524 +
1525 +1: AI_1 analog input (not supported by **VD2F and VD2L**)
1502 1502  )))|-
1503 1503  
1504 1504  Table 6-26 Speed instruction source parameter
... ... @@ -1529,15 +1529,17 @@
1529 1529  Effective
1530 1530  
1531 1531  immediately
1532 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1533 1533  Internal speed instruction 0
1534 1534  
1535 1535  When DI input port:
1536 1536  
1537 -* 15-INSPD3: 0
1538 -* 14-INSPD2: 0
1539 -* 13-INSPD1: 0,
1561 +15-INSPD3: 0
1540 1540  
1563 +14-INSPD2: 0
1564 +
1565 +13-INSPD1: 0,
1566 +
1541 1541  select this speed instruction to be effective.
1542 1542  )))|(% colspan="2" %)rpm
1543 1543  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1552,15 +1552,17 @@
1552 1552  Effective
1553 1553  
1554 1554  immediately
1555 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1556 1556  Internal speed instruction 1
1557 1557  
1558 1558  When DI input port:
1559 1559  
1560 -* 15-INSPD3: 0
1561 -* 14-INSPD2: 0
1562 -* 13-INSPD1: 1,
1586 +15-INSPD3: 0
1563 1563  
1588 +14-INSPD2: 0
1589 +
1590 +13-INSPD1: 1,
1591 +
1564 1564  Select this speed instruction to be effective.
1565 1565  )))|(% colspan="2" %)rpm
1566 1566  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1575,15 +1575,17 @@
1575 1575  Effective
1576 1576  
1577 1577  immediately
1578 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1579 1579  Internal speed instruction 2
1580 1580  
1581 1581  When DI input port:
1582 1582  
1583 -* 15-INSPD3: 0
1584 -* 14-INSPD2: 1
1585 -* 13-INSPD1: 0,
1611 +15-INSPD3: 0
1586 1586  
1613 +14-INSPD2: 1
1614 +
1615 +13-INSPD1: 0,
1616 +
1587 1587  Select this speed instruction to be effective.
1588 1588  )))|(% colspan="2" %)rpm
1589 1589  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1598,15 +1598,17 @@
1598 1598  Effective
1599 1599  
1600 1600  immediately
1601 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1602 1602  Internal speed instruction 3
1603 1603  
1604 1604  When DI input port:
1605 1605  
1606 -* 15-INSPD3: 0
1607 -* 14-INSPD2: 1
1608 -* 13-INSPD1: 1,
1636 +15-INSPD3: 0
1609 1609  
1638 +14-INSPD2: 1
1639 +
1640 +13-INSPD1: 1,
1641 +
1610 1610  Select this speed instruction to be effective.
1611 1611  )))|(% colspan="2" %)rpm
1612 1612  |=P01-26|(% colspan="2" %)(((
... ... @@ -1621,15 +1621,17 @@
1621 1621  Effective
1622 1622  
1623 1623  immediately
1624 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1625 1625  Internal speed instruction 4
1626 1626  
1627 1627  When DI input port:
1628 1628  
1629 -* 15-INSPD3: 1
1630 -* 14-INSPD2: 0
1631 -* 13-INSPD1: 0,
1661 +15-INSPD3: 1
1632 1632  
1663 +14-INSPD2: 0
1664 +
1665 +13-INSPD1: 0,
1666 +
1633 1633  Select this speed instruction to be effective.
1634 1634  )))|(% colspan="1" %)rpm
1635 1635  |=P01-27|(% colspan="2" %)(((
... ... @@ -1644,15 +1644,17 @@
1644 1644  Effective
1645 1645  
1646 1646  immediately
1647 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1648 1648  Internal speed instruction 5
1649 1649  
1650 1650  When DI input port:
1651 1651  
1652 -* 15-INSPD3: 1
1653 -* 14-INSPD2: 0
1654 -* 13-INSPD1: 1,
1686 +15-INSPD3: 1
1655 1655  
1688 +14-INSPD2: 0
1689 +
1690 +13-INSPD1: 1,
1691 +
1656 1656  Select this speed instruction to be effective.
1657 1657  )))|(% colspan="1" %)rpm
1658 1658  |=P01-28|(% colspan="2" %)(((
... ... @@ -1667,15 +1667,17 @@
1667 1667  Effective
1668 1668  
1669 1669  immediately
1670 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1671 1671  Internal speed instruction 6
1672 1672  
1673 1673  When DI input port:
1674 1674  
1675 -* 15-INSPD3: 1
1676 -* 14-INSPD2: 1
1677 -* 13-INSPD1: 0,
1711 +15-INSPD3: 1
1678 1678  
1713 +14-INSPD2: 1
1714 +
1715 +13-INSPD1: 0,
1716 +
1679 1679  Select this speed instruction to be effective.
1680 1680  )))|(% colspan="1" %)rpm
1681 1681  |=P01-29|(% colspan="2" %)(((
... ... @@ -1690,15 +1690,17 @@
1690 1690  Effective
1691 1691  
1692 1692  immediately
1693 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1694 1694  Internal speed instruction 7
1695 1695  
1696 1696  When DI input port:
1697 1697  
1698 -* 15-INSPD3: 1
1699 -* 14-INSPD2: 1
1700 -* 13-INSPD1: 1,
1736 +15-INSPD3: 1
1701 1701  
1738 +14-INSPD2: 1
1739 +
1740 +13-INSPD1: 1,
1741 +
1702 1702  Select this speed instruction to be effective.
1703 1703  )))|(% colspan="1" %)rpm
1704 1704  
... ... @@ -1714,12 +1714,13 @@
1714 1714  The multi-speed segment number is a 3-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1715 1715  
1716 1716  
1717 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1718 -|0|0|0|1|0
1719 -|0|0|1|2|1
1720 -|0|1|0|3|2
1721 -|(% colspan="5" %)......
1722 -|1|1|1|8|7
1757 +(% style="margin-left:auto; margin-right:auto" %)
1758 +|=(% style="text-align: center; vertical-align: middle;" %)**INSPD3**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD2**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD1**|=(% style="text-align: center; vertical-align: middle;" %)**Running segment number**|=(% style="text-align: center; vertical-align: middle;" %)**Internal speed instruction number**
1759 +|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
1760 +|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
1761 +|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1762 +|(% colspan="5" style="text-align:center; vertical-align:middle" %)......
1763 +|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1723 1723  
1724 1724  Table 6-29 Correspondence between INSPD bits and segment numbers
1725 1725  
... ... @@ -1760,16 +1760,22 @@
1760 1760  )))
1761 1761  
1762 1762  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1763 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1764 -|=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1765 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1766 -|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1804 +|=P05-01(((
1805 +★
1806 +)))|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1807 +|=P05-02(((
1808 +★
1809 +)))|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1810 +|=P05-03(((
1811 +★
1812 +)))|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1813 +|=P05-04(((
1814 +★
1815 +)))|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1767 1767  
1768 -Table 6-30 AI_1 parameters
1769 -
1770 1770  (% class="box infomessage" %)
1771 1771  (((
1772 -✎**Note: **“☆” means VD2F servo drive does not support the function code .
1819 +✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
1773 1773  )))
1774 1774  
1775 1775  == Acceleration and deceleration time setting ==
... ... @@ -1863,10 +1863,13 @@
1863 1863  )))|0|0 to 3|(((
1864 1864  Set the zero-speed clamp function. In speed mode:
1865 1865  
1866 -* 0: Force the speed to 0;
1867 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1868 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1869 -* 3: Invalid, ignore zero-speed clamp input
1913 +0: Force the speed to 0;
1914 +
1915 +1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1916 +
1917 +2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1918 +
1919 +3: Invalid, ignore zero-speed clamp input
1870 1870  )))|-
1871 1871  |=P01-22|(((
1872 1872  Zero-speed clamp speed threshold
... ... @@ -1874,7 +1874,7 @@
1874 1874  Operation setting
1875 1875  )))|(((
1876 1876  Effective immediately
1877 -)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1927 +)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm
1878 1878  
1879 1879  Table 6-33 Zero-speed clamp related parameters
1880 1880  
... ... @@ -1919,7 +1919,7 @@
1919 1919  
1920 1920  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1921 1921  |=132|(% style="width:247px" %)(((
1922 -T-COIN rotation detection
1972 +TGON rotation detection
1923 1923  )))|(% style="width:695px" %)(((
1924 1924  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1925 1925  
... ... @@ -1987,7 +1987,7 @@
1987 1987  
1988 1988  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
1989 1989  |=136|(% style="width:262px" %)(((
1990 -U-COIN consistent speed
2040 +V-COIN consistent speed
1991 1991  )))|(% style="width:684px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1992 1992  
1993 1993  Table 6-39 DO speed consistent function code
... ... @@ -2171,8 +2171,9 @@
2171 2171  )))|(((
2172 2172  Effective immediately
2173 2173  )))|0|0 to 1|(((
2174 -* 0: internal value
2175 -* 1: AI_1 analog input (not supported by VD2F and VD2L)
2224 +0: internal value
2225 +
2226 +1: AI_1 analog input (not supported by VD2F and VD2L)
2176 2176  )))|-
2177 2177  
2178 2178  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2249,7 +2249,7 @@
2249 2249  Operation setting
2250 2250  )))|(((
2251 2251  Effective immediately
2252 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2253 2253  Forward torque
2254 2254  
2255 2255  limit in torque mode
... ... @@ -2262,7 +2262,7 @@
2262 2262  Operation setting
2263 2263  )))|(((
2264 2264  Effective immediately
2265 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2266 2266  Reverse torque
2267 2267  
2268 2268  limit in torque mode