09 Parameters

Last modified by Devin Chen on 2024/11/21 15:58

Group P00 Basic settings

P00-01

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Control mode

Shutdown setting

Effective immediately

1 to 6

Basic setting

Used to set the control mode of servo drive

Setting value

Control mode

Remarks

Position control

For position control parameter setting, please refer to 6.2 Position control mode

Speed control

For speed control parameter setting, please refer to 6.3 Speed control mode

Torque control

For torque control parameter setting, please refer to 6.4 Torque control mode

Position/speed mix control

A DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.

MixModeSel terminal logic	Control mode
Invalid	Position control
Valid	Speed control

Position/torque mix control

A DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.

MixModeSel terminal logic	Control mode
Invalid	Position control
Valid	Torque control

Speed/torque mix control

A DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.

MixModeSel terminal logic	Control mode
Invalid	Speed control
Valid	Torque control

When P00-01 is set to 4, 5 or 6, please refer to 6.5 Mixed control mode.

✎Note: VD2L drive P0-01 setting range: 1 to 3. Mix mode is not supported!

P00-04

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Rotation direction

Shutdown setting

Effective immediately

0 to 1

Basic setting

Set the forward rotation direction of the motor when looking at the motor axis.

Setting value	Rotation direction	Remarks
0	Take CW as forward direction	When looking at the motor axis, the rotation direction of the motor is clockwise
1	Take CCW as forward direction	When looking at the motor axis, the rotation direction of the motor is anticlockwise

P00-05

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Servo OFF shutdown method

Shutdown setting

Effective immediately

0 to 1

Basic setting

Set the forward rotation direction of the motor when looking at the motor axis.

Setting value	Shutdown method	Remarks
0	Free shutdown. The motor shaft remains free	Please set reasonable shutdown according to the machinery and running requirement. Please refer to 6.1.7 Servo shutdown
1	Zero-speed shutdown. The motor shaft remains free

P00-09

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Braking resistor setting

Operation setting

Effective immediately

0 to 3

Basic setting

Used to set the way in which braking energy is absorbed and released.

Setting value	Braking resistor setting	Remarks
0	Use built-in braking resistor	Please refer to 6.1.5 Braking resistor to choose the right braking method
1	Use external braking resistor and natural cooling
2	Use external braking resistor and forced air cooling (not settable)
3	No braking resistors are used, and all are absorbed by capacitance

✎Note: VD2-010SA1G, VD2F-003SA1P, VD2F-010SA1P and VD2L-0101SA1P drives has no built-in braking resistor by default, so the default value of P00-09 is 3 (No braking resistors are used, and all are absorbed by capacitance).

P00-10	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-10	External braking resistor value	Operation setting	Effective immediately	50	0 to 65535	Basic setting	Ω
Used to set the power of external braking resistor of servo drive. When the maximum braking energy calculated value is greater than the maximum braking energy absorbed by capacitor, and the braking power calculated value is greater than the built-in braking resistor power, external braking resistors are required. If the value of P00-10 is too large, Er.25 (too large braking resistor value) or Er.22 (main power supply is over voltage) will occur. When using an external braking resistor, the short wiring between C and D must be disconnected, and the external braking resistor should wiring between P+ and D.

P00-11	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-11	External braking resistor power	Operation setting	Effective immediately	100	0 to 65535	Basic setting	W
Used to set resistor value of external braking resistor of servo drive. The power of external braking resistor (P00-11) can not less than the braking resistance power calculation value.

P00-12

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Position pulse type selection

Operation setting

Power-on again

0 to 5

Position mode

In position control mode, when position instruction source is pulse instruction (P01-06=0) , input pulse pattern.

Setting value	Pulse pattern	Remarks
0	Direction + pulse(positive logic)	Please refer to Table 6-15 in 6.2.1 Position instruction input setting
1	CW/CCW
2	AB phase orthogonal pulse (4 times frequency)
3	Direction + pulse (negative logic)
4	CW/CCW (negative logic)
5	AB phase orthogonal pulse (4 times frequency negative logic)

✎Note: VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5

P00-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-13	Maximum position pulse frequency	Shutdown setting	Effective immediately	300	1 to 500	Position mode	KHz
In position control mode, when position instruction source is pulse instruction (P01-06=0), input the maximum frequency of pulse. When the actual pulse input frequency is greater than the setting value of P00-13, A-86 would occurs (The input pulse frequency is too high).

P00-14

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Position pulse anti-interference level

Operation setting

Power-on again

0 to 9

Position mode

In position control mode, filter the input pulse. The larger the P00-14 setting value, the greater the filter depth.

✎Note: P0-14 filtering time of the VD2L series drive is not consistent with that of other VD2 series models.

VD2/VD2F
Setting value	Filtering time	Setting value	Filtering time
0	No filtering	5	2.048us
1	128ns	6	4.096 us
2	256ns	7	8.192 us
3	512ns	8	16.384 us
4	1.024us	9	VD2: 32.768us. VD2F: 25.5us

VD2L
Setting value	Filtering time	setting value	Filtering time
0	No filtering	5	1777.7ns
1	111.1ns	6	3555.5ns
2	222.2ns	7	7111.1ns
3	444.4ns	8	14222.2ns
4	888.8ns

P00-16	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-16	Number of instruction pulses per turn of motor	Shutdown setting	Effective immediately	10000	0 to 131072	Position mode	W
Used to set the number of instruction pulses required for per turn of motor

P00-17	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-17	Electronic gear 1 numerator	Operationsetting	Effective immediately	1	1 to 4294967294	Position mode	W
Used to set the numerator of the first group electronic gear for position instruction. This function code is only valid when P00-16=0. ✎Note: The setting range of VD2L is inconsistent with other models of VD2 series as follows: 1 to 2147483647.

P00-18	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-18	Electronic gear 1 denominator	Operation setting	Effective immediately	1	1 to 4294967294	Position mode	W
Used to set the numerator of the first group electronic gear for position instruction. This function code is only valid when P00-16=0. ✎Note: The setting range of VD2L is inconsistent with other models of VD2 series as follows: 1 to 2147483647.

P00-19	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-19	Electronic gear 2 numerator	Operation setting	Effective immediately	1	0 to 4294967294	Position mode	W
Used to set the numerator of the second group electronic gear for position instruction. This function code is only valid when P00-16=0. ✎Note: The setting range of VD2L is inconsistent with other models of VD2 series as follows: 1 to 2147483647.

P00-20	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-20	Electronic gear 2 denominator	Operation setting	Effective immediately	1	0 to 4294967294	Position mode	W
Used to set the numerator of the second group electronic gear for position instruction. This function code is only valid when P00-16=0. ✎Note: The setting range of VD2L is inconsistent with other models of VD2 series as follows: 1 to 2147483647.

P00-21

☆

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Pulse frequency division output direction

Operation setting

Power-on again

0 to 1

Position mode

Used to set the pulse frequency division output direction

Setting value	Output direction
0	CW is forward direction (A is ahead of B)
1	CCW is forward direction (A is ahead of B)

VD2L is used to set the pulse frequency division output direction.

Setting value	Output direction
0	Direction+pulse (Positive logic)
1	Direction+pulse (Negative logic)

“☆” indicates that the VD2F servo drive does not support this function code.

P00-22 ☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-22 ☆	The number of output pulses per turn of motor	Operation setting	Power-on again	2500	0 to 2500	Position mode	-
✎Note: Each rotation of the motor, phase A and phase B can each output up to 2500 pulses, and the control device receiver device needs to support 4 times frequency analysis to get 10000 pulses. Warning The setting range of this parameter for VD2L is inconsistent with that for other models of VD2 series as follows: 0 to 10000.

“☆” indicates that the VD2F servo drive does not support this function code.

P00-23

☆

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Z pulse output OZ polarity

Operation setting

Power-on again

0 to 1

Position mode

Used to set the level logic of Z pulse

Setting value	Output direction
0	Active high level
1	Active low level

P00-24	Parameter name	Setting method	Effective time	Default	Set range	Application category	Unit
P00-24	Z pulse output width	Operation setting	Power on again	3	1 to 200	Position mode	ms
Set Z pulse output width: 1: Pulse width 1ms 2: Pulse width 2ms …… 200: Pulse width 200ms ✎Note: This function code is only supported by VD2F series models!

P00-25	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-25	Position deviation limit	Shutdown setting	Effective immediately	60000	0 to 2147483646	Position mode	Equivalent pulse unit
Used to set position deviation limit value. When the actual deviation of motor exceeds the setting value of this function code, Er.36 would occurs (position deviation is too large). When the function code is set to 0, positional bias is ignored.

P00-27 ☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-27 ☆	Pulse output frequency division numerator	Operation setting	Power-on again	1	1 to 2500	Position mode	-
Orthogonal encoded output (numerator/denominator) for setting the numerator of the frequency division pulse output. (This function code is valid when P00-22=0 and the pulse output frequency division numerator value is less than the pulse output frequency division denominator value)

“☆” indicates that the VD2F servo drive does not support this function code.

P00-28 ☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-28 ☆	Pulse output frequency division denominator	Operation setting	Power-on again	1	1 to 2500	Position mode	-
Orthogonal encoded output (numerator/denominator). Used to set pulse output frequency division denominator. (When P00-22=0, and the pulse output frequency division denominator value is greater than the pulse output frequency division numerator value, this function code is valid)

“☆” indicates that the VD2F servo drive does not support this function code.

P00-29	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-29	The number of equivalent position units in one circle	Shutdown setting	Effective immediately	10000	0 to 131072	Position mode	-
The equivalent position unit of one circle of the motor

P00-30

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Shielded multi-turn absolute encoder battery failure

Operation setting

Power-on again

0 to 3

Basic setting

Used to set multi-turn absolute encoder battery fault alarm setting function. (VD2-SA V1.13 firmware added)

Setting value	Function	Remarks
0	Shield	Detect multi-turn absolute encoder battery under voltage and battery low-voltage fault. Please refer to 6.6 Absolute system.
1	Not shield	Shield multi-turn absolute encoder battery under voltage and battery low-voltage fault.This would cause mechanical failure, please use with caution.
2	Shielded encoder overtemperature fault	Shield multi-turn absolute value encoder battery under temperature fault, which is very likely to cause mechanical failure. Please use it carefully!
3	Simultaneously shielding multi-turn absolute value motor battery fault and encoder overtemperature fault	Shield absolute value encoder battery undervoltage and low voltage fault and multi-turn absolute value encoder battery under temperature fault, which are likely to cause mechanical failure. Please use it carefully!

P00-31	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P00-31	Encoder read-write check abnormal frequency	Operation setting	Effective immediately	20	0 to 100	Basic setting	-
0: no alarm Other values: After exceeding this set value, A93 encoder read/write verification abnormal frequency warning will be reported.

Group P01 Control parameters

P01-01

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Speed instruction source

Shutdown setting

Power-on again

0 to 1

Speed mode

Select speed instruction source

Setting value	Function	Remarks
0	Internal speed instruction	Please refer to 6.3.1 Speed instruction input setting.
1*	AI_1 analog input	External speed instruction. Please refer to 4 Wiring.

“*” indicates that the VD2F servo drive does not support this function code.

P01-02	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
	Internal speed instruction 0	Operation setting	Effective immediately	-5000 to 5000	Speed mode	rpm
							-5000 to 5000*
Used to set speed value of internal speed instruction when servo drive is in speed control mode, and only valid when P01-01=0. “*” indicates that the setting range of VD2F servo drive.

P01-03	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-03	Acceleration time	Operation setting	Effective immediately	50	0 to 65535	Speed mode	ms
The time that the speed instruction accelerates from 0 to 1000 rpm. Please refer to 6.3.2 Acceleration and deceleration time setting

P01-04	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-04	deceleration time	Operation setting	Effective immediately	50	0 to 65535	Speed mode	ms
The time that the speed instruction decelerates from 1000 to 0 rpm. Please refer to 6.3.2 Acceleration and deceleration time setting

P01-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-05	Shutdown deceleration time	Shutdown setting	Effective immediately	50	0 to 65535	-	ms
The time for the speed command to decelerate from 1000rpm to 0

P01-06

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Position instruction source

Operation setting

Effective immediately

0 to 1

Used to select position instruction source when servo drive is in position control mode.

Setting value	Instruction source	Remarks
0	Pulse instruction	Pulse instructions are generated by PLC or other pulse generator and input to servo drive via the hardware terminals. Please refer to 6.2.1 Position instruction input setting
1	Internal position instruction	The internal multi-segment position instruction is triggered by DI function 20 (internal multi-segment position enable signal). Please refer to internal multi-segment position function.

“*” indicates that the VD2F servo drive does not support this function code.

P01-07

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Torque instruction source

Shutdown setting

Effective immediately

0 to 1

Torque mode

Used to select torque instruction source when servo drive is in torque control mode.

Setting value	Instruction source	Remarks
0	Internal torque instruction	Please refer to 6.4.1 Torque instruction input setting
1*	AI_1 analog input	Please refer to 4 Wiring

“*” indicates that the VD2F servo drive does not support this instruction source

P01-08

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Torque instruction keyboard setting value

Operation setting

Effective immediately

-3000 to 3000

0.1%

Used to set the required torque instruction value when P01-07 is set to 0 (internal torque instruction).

P01-09

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Speed limit source in torque mode

Shutdown setting

Effective immediately

0 to 1

Torque mode

Used to set speed limit source when servo drive is in torque control mode.

Setting value	Instruction source	Remarks
0	Internal instruction	Please refer to 6.4.4 Speed limit in torque mode
1*	AI_2 analog input	Please refer to 4 Wiring

“*” indicates that the VD2F servo drive does not support this instruction source.

P01-10	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-10	Maximum speed threshold	Operation setting	Effective immediately	3600	0 to 5000	Protection and restriction	rpm
Used to set the maximum speed limit value. If the actual speed of motor exceeds this value, Er.32 would occur (Exceed the maximum speed of motor).

P01-11	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-11	Warning speed threshold	Operation setting	Effective immediately	3300	0 to 5000	Protection and restriction	rpm
Used to set the limit value of maximum speed. If the actual speed of motor exceeds this value, A-81 would occur (Exceed the maximum speed of motor).

P01-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-12	Forward speed threshold	Operation setting	Effective immediately	3000	0 to 5000	Protection and restriction	rpm
Used to set the limit value of forward speed

P01-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-13	Reverse speed threshold	Operation setting	Effective immediately	3000	0 to 5000	Protection and restriction	rpm
Used to set the limit value of reverse speed

P01-14

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Torque limit source

Shutdown setting

Effective immediately

0 to 1

Protection and restriction

Used to select torque instruction source when servo drive is in torque control mode.

Setting value	Instruction source	Remarks
0	Internal instruction	Please refer to 6.4.3 Torque instruction limit
1	AI_2 analog input	Please refer to 4 Wiring

P01-15	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-15	Forward torque limit	Operation setting	Effective immediately	3000	0 to 3000	Protection and restriction	0.1%
Used to set the limit value of forward speed

P01-16	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-16	Reverse torque limit	Operation setting	Effective immediately	3000	0 to 3000	Protection and restriction	0.1%
When P01-14 is set to 0 ()internal) , the setting value of this function code is reverse torque limit value. If the value of P01-15 and P01-16 is set too small, the servo motor may be insufficient torque phenomenon when performing acceleration and deceleration movements. Please refer to 6.4.3 Torque instruction limit.

P01-17	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-17	Forward speed limit in torque mode	Operation setting	Effective immediately	3000	0 to 5000	Protection and restriction	rpm
Used to set forward speed limit value in torque control mode. Please refer to 6.4.4 Speed limit in torque mode
P01-18	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-18	Reverse speed limit in torque mode	Operation setting	Effective immediately	3000	0 to 5000	Protection and restriction	rpm
Used to set reverse speed limit value in torque control mode. Please refer to 6.4.4 Speed limit in torque mode

P01-19	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-19	Torque saturation timeout	Operation setting	Effective immediately	3000	0 to 65535	Protection and restriction	ms
When torque is limited by the setting value of P01-15 or P01-16, and exceeds the setting time, drive would report fault “torque saturation abnormal”. ✎Note: When this function code is set to 0, saturation timeout fault detection would not be performed, and ignore this fault,

P01-21

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Zero-speed clamp function selection

Operation setting

Effective immediately

0 to 3

Speed mode

Please refer to 6.3.4 Zero-speed clamp function

Setting value	Function
0	Force the speed to 0
1	Force the speed to 0, and keep position locked when the actual speed is less than [P01-22]
2	When the speed command is less than [P01-22], the force speed is 0, and keep the position locked
3	Invalid. Ignore zero-speed clamp input

P01-22	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-22	Zero speed clamp speed threshold	Operation setting	Effective immediately	20	0 to 5000	Speed mode	rpm
Used to set the speed threshold of zero-speed clamp function Please refer to 6.3.4 Zero-speed clamp function.

P01-23

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Internal speed

Instruction 1

Operation setting

Effective immediately

-5000 to 5000

Speed mode

rpm

Used to set the speed value of internal speed instruction 1 To use internal speed instruction 1 to 7, you need to set 3 DI terminals as DI function 13 (INSPD1, internal speed instruction 1) to (INSPD3, internal speed instruction 3). The switch of the internal speed instruction section is realized by controlling the DI terminal logic of the servo control device. The running instruction segment number is 3-bit binary number. The corresponding relationships between internal speed instruction 1 to 3 and running segment number are as below.

INSPD3	INSPD2	INSPD1	Internal speed instruction segment number
0	0	0	0
0	0	1	1
0	1	0	2
…………
1	1	1	7

Please refer to 6.3.1 Speed instruction input setting

P01-24	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-24	Internal speed Instruction 2	Operation setting	Effective immediately	0	-5000 to 5000	Speed mode	rpm
Used to set the speed value of internal speed instruction 2.

P01-25	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-25	Internal speed Instruction 3	Operation setting	Effective immediately	0	-5000 to 5000	Speed mode	rpm
Used to set the speed value of internal speed instruction 3.
P01-26	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-26	Internal speed Instruction 4	Operation setting	Effective immediately	0	-5000 to 5000	Speed mode	rpm
Used to set the speed value of internal speed instruction 4.

P01-27	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-27	Internal speed Instruction 5	Operation setting	Effective immediately	0	-5000 to 5000	Speed mode	rpm
Used to set the speed value of internal speed instruction 5.

P01-28	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-28	Internal speed Instruction 6	Operation setting	Effective immediately	0	-5000 to 5000	Speed mode	rpm
Used to set the speed value of internal speed instruction 6.

P01-29	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-29	Internal speed Instruction 7	Operation setting	Effective immediately	0	-5000 to 5000	Speed mode	rpm
Used to set the speed value of internal speed instruction 7.

P01-30	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-30	Delay from brake output ON to instruction reception	Operation setting	Effective immediately	250	0 to 500	-	rpm
Set the delay time from the brake (BRK-OFF) output is ON to the servo drive allows to start receiving input instructions. When the brake output (BRK-OFF) is not allocated, this function code has no effect. Please refer to 6.1.8 Brake device.

P01-31	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-31	Stationary state. delay from the brake output is OFF to the motor is not energized	Operation setting	Effective immediately	150	1 to 1000	-	rpm
When the motor is in a static state, set the delay time from the brake (BRK-OFF) output is OFF to the servo drive is in the non-powered state. When the brake output (BRK-OFF) is not allocated, this function code has no effect. Please refer to 6.1.8 Brake device.

P01-32	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-32	Rotation state, when the brake output is OFF, the speed threshold	Operation setting	Effective immediately	30	0 to 3000	-	rpm
The motor is rotating, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF. When the brake output (BRK-OFF) is not allocated, this function code has no effect. Please refer to 6.1.8 Brake device.

P01-33	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-33	Rotation status, delay from servo enable OFF to brake output OFF	Operation setting	Effective immediately	500	1 to 1000	-	rpm
The motor is rotating, the delay time from the brake (BRK-OFF) output OFF is allowed to the servo enable (S-ON) OFF. When the brake output (BRK-OFF) is not allocated, this function code has no effect. Please refer to 6.1.8 Brake device.

P01-37	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-37	JOG acceleration time	Operation setting	Effective immediately	500	1 to 5000	-	ms
The time for JOG instruction to accelerate from 0 to 1000rpm. ✎Note: VD2L does not support DI control JOG function for the time being, but the JOG function of VD2L supports P1-37 and P1-38 parameters.

P01-38	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-38	JOG deceleration time	Operation setting	Effective immediately	500	1 to 5000	-	ms
Time for a JOG instruction to decelerate from 100rpm to 0. ✎Note: VD2L does not support DI control JOG function for the time being, but the JOG function of VD2L supports P1-37 and P1-38 parameters.

Group P02 Gain adjustment

P02-01	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-01	1st position loop gain	Operation setting	Effective immediately	232	0 to 6200	Gain control	0.1Hz
Set the proportional gain of the 1st position loop to determine the responsiveness of position control system.

P02-02	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-02	1st speed loop gain	Operation setting	Effective immediately	250	0 to 35000	Gain control	0.1Hz
Set the proportional gain of the 1st speed loop to determine the responsiveness of speed loop.

P02-03	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-03	1st speed loop integral time constant	Operation setting	Effective immediately	210	100 to 65535	Gain control	0.1ms
Set the 1st speed loop integral constant. The smaller the set value, the stronger the integral effect.

P02-04	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-04	2nd position loop gain	Operation setting	Effective immediately	35	0 to 6200	Gain control	0.1Hz
Set the proportional gain of the 2nd position loop to determine the responsiveness of position control system.

P02-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-05	2nd speed loop gain	Operation setting	Effective immediately	65	0 to 35000	Gain control	0.1Hz
Set the proportional gain of the 2nd speed loop to determine the responsiveness of speed loop.

P02-06	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-06	2nd speed loop integral time constant	Operation setting	Effective immediately	1000	100 to 65535	Gain control	0.1ms
Set the 2nd speed loop integral constant. The smaller the set value, the stronger the integral effect.

P02-07

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

2nd gain switching mode

Operation setting

Effective immediately

0 to 1

Gain control

Used to set the 2nd gain switching mode.

Setting value	Definition
0	First gain fixed. Use DI function 10 (GAIN-SEL) to switch: DI logic invalid: PI control; DI logic valid: P control.
1	Switch first gain and second gain by the setting value of P02-08.

P02-08

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Gain switching condition selection

Operation setting

Effective immediately

0 to 10

Gain control

Set the conditions for gain switching.

Setting value	Gain switching conditions	Details
0	The default is the first gain	Fixed use of the first gain
1	Switch by DI port	Use DI function 10 (GAIN-SEL, gain switching); DI logic is invalid: the first gain (P02-01~P02-03); DI logic is valid: the second gain (P02-04~P02-06).
2	Large torque command	In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
3	Large actual torque	In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
4	Large speed command	In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
5	Large actual speed	In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
6	Large rate of change in speed command	In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched; In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
7	Large position deviation	In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
8	Position command	In the previous first gain, if the position command is not 0, switch to the second gain; In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
9	Positioning complete	In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
10	Position command + actual speed	In the previous first gain, if the position command is not 0, the second gain is switched; In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).

P02-09	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-09	Speed feedforward gain	Operation setting	Effective immediately	0	0 to 1000	Gain control	0.1%
Set speed feedforward gain

P02-10	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-10	Speed feedforward filtering time constant	Operation setting	Effective immediately	50	0 to 10000	Gain control	0.1ms
Set the time constant of one delay filter related to the speed feedforward input.

P02-11	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-11	Torque feedforward gain	Operation setting	Effective immediately	0	0 to 2000	Gain control	0.1%
Set torque feedforward gain

P02-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-12	Torque feedforward filter time constant	Operation setting	Effective immediately	50	0 to 10000	Gain control	0.1ms
Set the time constant of one delay filter related to the torque feedforward input.

P02-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-13	Delay Time for Gain Switching	Operation setting	Effective immediately	20	0 to 10000	Gain control	0.1ms
The duration of the switching condition required for the second gain to switch back to the first gain. ✎Note: This parameter is only valid when the second gain is switched back to the first gain.

P02-14	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-14	Gain switching grade	Operation setting	Effective immediately	50	0 to 20000	Gain control	According to the switching conditions
Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.

P02-15	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-15	Gain switching hysteresis	Operation setting	Effective immediately	20	0 to 20000	Gain control	According to the switching conditions
Set the hysteresis to meet the gain switching condition.

P02-16	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-16	Position loop gain switching time	Operation setting	Effective immediately	30	0 to 10000	Gain control	0.1ms
Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.

P02-20	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-20	Enable model tracking control function	Shutdown setting	Effective immediately	0	0 to 1	Gain control
Set 1 to enable the model tracking control function.

P02-21	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-21	Model tracking control gain	Shutdown setting	Effective immediately	1000	200 to 20000	Gain control	0.1/s
Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior.

P02-22	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-22	Model tracking control gain compensation	Shutdown setting	Effective immediately	1000	500 to 2000	Gain control	0.10%
The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.

P02-23	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-23	Model tracking control forward rotation bias	Operation setting	Effective immediately	1000	0 to 10000	Gain control	0.10%
Torque feedforward size in the positive direction under model tracking control.

P02-24	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-24	Model tracking control reverses rotation bias	Operation setting	Effective immediately	1000	0 to 10000	Gain control	0.10%
Torque feedforward size in the reverse direction under model tracking control.

P02-25	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P02-25	Model tracking control speed feedforward compensation	Operation setting	Effective immediately	1000	0 to 10000	Gain control	0.10%
The size of the speed feedforward under model tracking control.

Group P03 Self-adjusting parameters

P03-01	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P03-01	Load inertia ratio	Operation setting	Effective immediately	300*	100 to 10000	Automatic parameter tuning	0.01
Set load inertia ratio: 0.00 to 100.00 times. “*” indicates that the factory defaults for different models may differ.

P03-02	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P03-02	Load rigidity grade selection	Operation setting	Effective immediately	14*	0 to 31	Automatic parameter tuning	-
Set the rigidity of servo system. The higher the value, the faster the response, but too high rigidity will cause vibration. “*” indicates that the factory defaults for different models may differ.

P03-03

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Self-adjusting mode selection

Operation setting

Effective immediately

0 to 2

Automatic parameter tuning

Different gain adjustment modes could be set, and the relevant gain parameters could be set manually or automatically set according to the rigidity level table.

Setting value	Instruction source	Remarks
0	Self-adjusting mode.	Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
1	Manual setting	You need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter
2	Online automatic self-adjusting mode	Not implemented yet

P03-04	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P03-04	Online inertia recognition sensitivity	Operation setting	Effective immediately	0	0 to 2	Automatic parameter tuning	-
Not implemented yet.

P03-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P03-05	Number of circles Inertia recognition	Shutdown setting	Effective immediately	2	1 to 20	Automatic parameter tuning	Circle
Offline load inertia recognition process, motor rotation number setting

P03-06	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P03-06	Inertia recognition maximum speed	Shutdown setting	Effective immediately	1000	300 to 2000	Automatic parameter tuning	rpm
Set the allowable maximum motor speed instruction in offline inertia recognition mode. The faster the speed during inertia recognition, the more accurate the recognition result will be. You are advised to keep the default value.

P03-07

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Parameter recognition rotation direction

Shutdown setting

Effective immediately

0 to 2

Automatic parameter tuning

Set parameter recognition rotation direction

Setting value	Rotation direction
0	Forward and reverse reciprocating rotation
1	Forward one-way rotation
2	Reverse one-way rotation

P03-08	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P03-08	Parameter recognition waiting time	Shutdown setting	Effective immediately	1000	300 to 10000	Self-tuning	ms
During offline inertia recognition, the time interval between two consecutive speed instructions

Group P04 Vibration suppression

P04-01

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Pulse instruction filtering method

Shutdown setting

Effective immediately

0 to 1

Position mode

Setting value	Filtering method
0	First-order low-pass filter
1	Average filtering

P04-02

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Position instruction first-order low-pass filtering time constant

Shutdown setting

Effective immediately

0 to 1000

Position mode

Used to set position instructions first-order low-pass filtering time constant.

The position instructions is rectangular waves
The position instruction is trapezoidal wave

P04-03

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Position instruction average filtering time constant

Shutdown setting

Effective immediately

0 to 128

Position mode

Used to set average filtering time constant.

The position instructions is rectangular waves
The position instruction is trapezoidal wave

P04-04	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-04	Torque filtering time constant	Operation setting	Effective immediately	80	10 to 2500	Vibration suppression	0.01ms
Used to set torque filtering time constant. When the function code P03-03(Self-adjustment mode selection) is set to 0, the parameter is automatically set by servo. Please refer to 6.4.2 Torque instruction filtering

P04-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-05	1st notch filter frequency	Operation setting	Effective immediately	300	250 to 5000	Vibration suppression	Hz
Set the center frequency of the 1st notch filter. When the function code is set to 5000, the function of the notch filter is invalid.

P04-06	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-06	1st notch filter depth	Operation setting	Effective immediately	100	0 to100	Vibration suppression	-
Set the notch filter depth grade (the ratio between input and output at the center frequency of the notch filter) The larger the set value of this function code is, the smaller the notch filter depth is, and the weaker the suppression effect of mechanical vibration is. However, setting too large could cause system instability. Please refer to 7.4.2 Notch filter

P04-07	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-07	1st notch filter width	Operation setting	Effective immediately	4	0 to 12	Vibration suppression	-
Set the notch filter width grade (the ratio between input and output at the center frequency of the notch filter)

P04-08	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-08	2nd notch filter frequency	Operation setting	Effective immediately	500	250 to 5000	Vibration suppression	Hz
Set the center frequency of the 1st notch filter. When the function code is set to 5000, the function of the notch filter is invalid.

P04-09	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-09	2nd notch filter depth	Operation setting	Effective immediately	100	0 to 100	Vibration suppression	-

P04-10	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-10	2nd notch filter width	Operation setting	Effective immediately	4	0 to 12	Vibration suppression	-

P04-11	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-11	Enable low-frequency vibration suppression function	Operation setting	Effective immediately	0	0 to 1	Vibration suppression
When the function code is set to 1, enable the low-frequency vibration suppression function.

P04-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-12	Low-frequency vibration suppression frequency	Operation setting	Effective immediately	800	10 to 2000	Vibration suppression	0.1HZ
Set the center frequency of the 1st notch filter. When the function code is set to 5000, the function of the notch filter is invalid.

P04-14	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-14	Shutdown vibration detection amplitude	Operation setting	Effective immediately	100	0 to 3000	Vibration suppression	0.001
When the vibration amplitude is greater than detection amplitude ratio, the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity. The function code is set too large or too small to affect the recognition of the vibration frequency.

P04-18	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-18	Speed feedback filtering time	Operation setting	Effective immediately	40	20 to 1000	Vibration suppression	0.01ms
Wave filtering of the feedback speed of the encoder. When the filtering time is set large, it may cause the motor to vibrate.

P04-19	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-19	Enable the type A suppression function	Operation setting	Effective immediately	0	0 to 1	Vibration suppression
When the function code is set to 1, enable the type A suppression function.

P04-20	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-20	Type A suppression frequency	Operation setting	Effective immediately	1000	100 to 20000	Vibration suppression	0.1HZ
Set the frequency of Type A suppression.

P04-21	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-21	Type A suppression gain correction	Operation setting	Effective immediately	100	0 to 1000	Vibration suppression	0.01
Correct the load inertia ratio size.

P04-22	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-22	Type A suppression damping gain	Operation setting	Effective immediately	0	0 to 500	Vibration suppression	0.01
The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.

P04-23	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P04-23	Type A suppression phase correction	Operation setting	Effective immediately	200	0 to 900	Vibration suppression	0.1 degree
Type A suppression phase compensation.

Group P05 Signal input and output

P05-01☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-01☆	AI_1 input bias	Operation setting	Effective immediately	0	-5000 to 5000	Analog input	mV
Set AI_1 channel analog bias value “☆” indicates that the VD2F servo drive does not support this function code.

P05-02☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-02☆	AI_1 input filter time constant	Operation setting	Effective immediately	200	0 to 60000	Analog input	0.01ms
Set AI_1 channel input first-order low-pass filter time constant “☆” indicates that the VD2F servo drive does not support this function code.

P05-03☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-03☆	AI_1 dead zone	Operation setting	Effective immediately	20	0 to 1000	Analog input	mV
Set AI_1 channel analog quantity dead zone value. “Dead zone” is the input voltage interval when the sample voltage is 0. “☆” indicates that the VD2F servo drive does not support this function code.

P05-04☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-04☆	AI_1 zero drift	Operation setting	Effective immediately	0	-500 to 500	Analog input	mV
Set the zero drift of AI_1 channel analog. “zero drift” is the sample voltage co voltage relative to GND when analog channel voltage is 0. “☆” indicates that the VD2F servo drive does not support this function code.

P05-05☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-05☆	AI_2 input bias	Operation setting	Effective immediately	0	-5000 to 5000	Analog input	mV
“☆” indicates that the VD2F servo drive does not support this function code.

P05-06☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-06☆	AI_2 input filter time constant	Operation setting	Effective immediately	200	0 to 60000	Analog input	0.01ms
“☆” indicates that the VD2F servo drive does not support this function code.

P05-07☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-07☆	AI_2 dead zone	Operation setting	Effective immediately	20	0 to 500	Analog input	mV
“☆” indicates that the VD2F servo drive does not support this function code.

P05-08☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-08☆	AI_2 zero drift	Operation setting	Effective immediately	0	-500 to 500	Analog input	mV
“☆” indicates that the VD2F servo drive does not support this function code.

P05-09☆

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Analog 10V corresponds to the speed value

Shutdown setting

Effective immediately

3000

1000 to 4500

Analog input

rpm

Set the speed value corresponding to the analog 10V

Mode	Function code value	Sampling voltage and speed diagram
Speed mode	P01-01=1

Given speed = sampling voltage / 10 * (P05-09)

“☆” indicates that the VD2F servo drive does not support this function code.

P05-10☆

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Analog 10V corresponds to the torque value

Shutdown setting

Effective immediately

1000

0 to 3000

Analog input

0.1%

Set the torque value corresponding to the analog 10V

Mode	Function code value	Sampling voltage and speed diagram
Torque mode	P01-07=1

Given torque= sampling voltage / 10 * (P05-10)

“☆” indicates that the VD2F servo drive does not support this function code.

P05-11

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Positioning completion, positioning approach condition setting

Operation setting

Effective immediately

0 to 3

Position mode

Set the conditions of setting positioning completion and positioning approach. When servo is in position mode, and the absolute value of the positional deviation is within the range of P05-12 (positioning complete threshold) or P05-13 (positioning approach threshold), servo would output the positioning complete signal and positioning approach signal.

Set value	Output condition
0	It is valid when the absolute value of the position deviation is smaller than or close to the threshold
1	It is valid when the absolute value of the position deviation is smaller than or close to the threshold and input position instruction is 0
2	It is valid when the absolute value of the position deviation is smaller than or close to the threshold and input position instruction filtering value is 0
3	It is valid when the absolute value of the position deviation is smaller than or close to the threshold, input position instruction filtering value is 0, and continuous positioning detects window time

“☆” indicates that the VD2F servo drive does not support this function code.

P05-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-12	Positioning completion threshold	Operation setting	Effective immediately	800	1 to 65535	Position mode	Equivalent pulse unit
Set the threshold of absolute value of position deviation when servo drive output positioning completion signal

P05-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-13	Positioning approach threshold	Operation setting	Effective immediately	5000	1 to 65535	Position mode	Equivalent pulse unit
Set the threshold of absolute value of position deviation when servo drive output positioning approach signal

P05-14	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-14	Position detection window time	Operation setting	Effective immediately	10	0 to 20000	Position mode	ms
Set the detection window time for positioning completion

P05-15	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-15	Positioning signal holding time	Operation setting	Effective immediately	100	0 to 20000	Position mode	ms
Set the time for the signal to remain in effect after positioning when P05-11=3 (Positioning completion and positioning approach condition setting)

P05-16	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-16	Rotation detection speed threshold	Operation setting	Effective immediately	20	0 to 1000	Speed mode	rpm
Set the speed threshold that triggers the motor rotation signal. The motor rotation signal (TGON) is used to confirm that the motor has rotated. Please refer to 6.3.5 Speed-related DO output function

P05-17	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-17	Speed consistent signal threshold	Operation setting	Effective immediately	10	0 to 100	Speed mode	rpm
Set the speed threshold that triggers the motor speed consistent signal. The motor outputs speed consistent signal (V-COIN) indicates that the actual speed has reached the speed instruction setting value. Please refer to 6.3.5 Speed-related DO output function

P05-18	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-18	Speed approach signal threshold	Operation setting	Effective immediately	100	10 to 6000	Speed mode	rpm
Set the speed threshold that triggers the motor speed approach signal. The motor outputs speed approach signal (V-NEAR) indicates that the actual speed has reached the expected value. Please refer to 6.3.5 Speed-related DO output function

P05-19	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-19	Zero speed output signal threshold	Operation setting	Effective immediately	10	0 to 6000	Speed mode	rpm
Set the speed threshold that triggers the motor zero speed output signal. The motor outputs zero speed signal (ZSP) indicates that the actual speed is almost stationary. Please refer to 6.3.5 Speed-related DO output function

P05-20	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-20	Torque arrival threshold	Operation setting	Effective immediately	100	0 to 300	Torque mode	%
Please refer to 6.4.5 Torque-related DO output functions

P05-21	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P05-21	Torque arrival hysteresis value	Operation setting	Effective immediately	10	0 to 20	Torque mode	%
Please refer to 6.4.5 Torque-related DO output functions

Group P06 DI/DO configuration

P06-02

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

DI_1 channel function selection

Operation setting

Power on again

0 to 32

DI/DO

Set DI functions corresponding to hardware DI_1. The related functions are as below.

Set value	DI channel function	Set value	DI channel function
0	Off (not used)	13	INSPD1 (Internal speed instruction selection 1)
1	S-ON (Servo enable)	14	INSPD2 (Internal speed instruction selection 2)
2	A-CLR (Fault and warning clear)	15	INSPD3 (Internal speed instruction selection 3)
3	POT (Forward drive prohibition)	16	J-SEL Inertia ratio switch (not implemented yet)
4	NOT (Reverse drive prohibition)	17	MixModeSel Mix mode selection
5	ZCLAMP (Zero-speed clamp)	18	None
6	CL (Clear deviation counter)	19	None
7	C-SIGN (instruction is reversed)	20	ENINPOS (Internal multi-segment enable signal)
8	E-STOP (Emergency stop)	21	INPOS1 (Internal multi-segment position selection 1)
9	GEAR-SEL (Electronic Gear Switch 1)	22	INPOS2 (Internal multi-segment position selection 2)
10	GAIN-SEL (Gain switch)	23	INPOS3 (Internal multi-segment position selection 3)
11	INH (Instruction pulse prohibited input)	24	INPOS4 (Internal multi-segment position selection 4)
12	VSSEL (Vibration control switching input)	-	-

If P06-02 is set to a value other than that in the table above, the DI port function is not required.

The same DI channel function could not be allocated to multiple DI ports, otherwise servo drive will occur A-89 (DI port configuration duplication)

P06-03

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

DI_1 channel logic selection

Operation setting

Effective immediately

0 to 1

DI/DO

DI port input logic validity function selection

Set value	Content	Illustration
0	Normally open input. Active low level (switch on)
1	Normally closed input. Active high level (switch off)

P06-04

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

DI_1 input source selection

Operation setting

Effective immediately

0 to 1

DI/DO

Select the enabled DI_1 port type

Set value	Content
0	Hardware DI_1 input terminal
1	Virtual VDI_1 input terminal

P06-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-05	DI_2 channel function selection	Operation setting	Power on again	2	0 to 32	DI/DO	-

P06-06	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-06	DI_2 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-07	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-07	DI_2 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-08	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-08	DI_3 channel function selection	Operation setting	Power on again	3	0 to 32	DI/DO	-

P06-09	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-09	DI_3 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-10	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-10	DI_3 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-11	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-11	DI_4 channel function selection	Operation setting	Power on again	4	0 to 32	DI/DO	-

P06-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-12	DI_4 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-13	DI_4 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-14☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-14☆	DI_5 channel function selection	Operation setting	Power on again	7	0 to 32	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-15☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-15☆	DI_5 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-16☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-16☆	DI_5 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-17☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-17☆	DI_6 channel function selection	Operation setting	Power on again	11	0 to 32	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-18☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-18☆	DI_6 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-19☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-19☆	DI_6 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-20☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-20☆	DI_7 channel function selection	Operation setting	Power on again	2	0 to 32	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-21☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-21☆	DI_7 channel logic selection	Operation setting	Power on again	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-22☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-22☆	DI_7 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-23☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-23☆	DI_8 channel function selection	Operation setting	Power on again	2	0 to 32	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-24☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-24☆	DI_8 channel logic selection	Operation setting	Power on again	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-25☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-25☆	DI_8 input source selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

“☆” indicates that the VD2F servo drive does not support this function code.

P06-26

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

DO_1 channel function selection

Operation setting

Effective immediately

132

128 to 148

DI/DO

Set DO functions corresponding to hardware DO_1. The related functions are as below.

Set value	DO channel function	Set value	DO channel function
128	Close (not used)	139	T-LIMIT (Torque limit)
129	RDY (Servo ready)	140	V-LIMIT (speed limited)
130	ALM (fault signal)	141	BRK-OFF (brake output)✎1
131	WARN (warning signal)	142	SRV-ST (Servo on state output)
132	TGON (rotation detection)	143	OZ (Z pulse output)✎2
133	ZSP (zero speed signal)	144	None
134	P-COIN (positioning completed)	145	COM_VDO1 (communication VDO1 output)
135	P-NEAR (positioning approach)	146	COM_VDO1 (communication VDO2 output)
136	V-COIN (consistent speed)	147	COM_VDO1 (communication VDO3 output)
137	V-NEAR (speed approach)	148	COM_VDO1 (communication VDO4 output)
138	T-COIN (torque arrival)	-

If P06-26 is set to a value other than that in the preceding table, the DO port function is not required

The same DO channel function could not be allocated to multiple DO ports, otherwise servo drive will occur A-90 (DO port configuration duplication)

“✎1”: Use the function code BRK-OFF would be effective after power on again.

“✎2”:

① Only VD2H, VD2L and VD2F support 143 function code. For VD2-0xxSA1G model, this function code is empty. 143 function code would be effective after power on again.

② Only for VD2-0xxSA1H model, DO_1 default function code is 130ALM (fault signal). Only for VD2-0xxSA1H model, DO_2, DO_3, DO_4 function code is 143 OZ (Z/A/B pulse output), these 3 channels correspond to the Z, A and B phase of the pulse output.

③ For VD2L-0xxSa1P model, DO_2, DO_3 and DO_4 function code is 143 OZ/A/B (Z pulse/pulse/direction output). These 2 channels corresponds to Z axis, pulse axis and direction axis.

P06-27

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

DO_1 channel logic selection

Operation setting

Effective immediately

0 to 1

DI/DO

DO Port input logic validity function selection.

Set value	Content
0	Output transistor is on when the output is valid, and output transistor is off when the output is invalid.
1	Output transistor is off when the output is valid, and output transistor is on when the output is invalid.

P06-28	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-28	DO_2 channel function selection	Operation setting	Effective immediately	130	128 to 148	DI/DO	-

P06-29	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-29	DO_2 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-30	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-30	DO_3 channel function selection	Operation setting	Effective immediately	129	128 to 148	DI/DO	-

P06-31	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-31	DO_3 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P06-32	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-32	DO_4 channel function selection	Operation setting	Effective immediately	134	128 to 148	DI/DO	-

P06-33	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P06-33	DO_4 channel logic selection	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

Group P07 multi-segment position

P07-01

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Multi-segment position operation mode

Shutdown setting

Effective immediately

0 to 2

When servo is in position mode, and P01-06 (position instruction source) =1, set the operation mode of multi-segment position

Set value	Operation mode	Remarks
0	Single running	Stop after running one round. The segment number automatic increment switching.
1	Cycle running	Cycle running. The segment number automatic increment switching.
2	DI switching running	Segment number updates can continue to run. The segment numbers are determined by the DI terminal logic

To use multi-segment position function, a DI port channel of servo drive should configured to function 20 (ENINPOS, internal multi-segment position enable signal), and the logic of the DI terminal valid should be confirmed. Please refer to Group P06 DI/DO configuration

P07-02

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Starting position number

Shutdown setting

Effective immediately

1 to 16

Set the starting segment number in single running or cycle running.

When P07-01≠2, the segment number automatic increment switching.

When P07-01=2, 4 DI ports need be set to DI function 21 (INPOS1, internal multi-segment position segment selection 1 to INPOS4, internal multi-segment position segment selection 4 ), and the segment number is switched by the servo host computer to control the DI terminal logic. Multi-segment number is 4-bit binary number. The corresponding relations between internal multi-segment position segment selection and segment number are as below.

If DI terminal logic is valid, the value of internal multi-segment position segment selection is 1, otherwise it is 0.

INPOS4	INPOS3	INPOS2	INPOS1	Operation segment number
0	0	0	0	1
0	0	0	1	2
0	0	1	0	3
…………
1	1	1	1	16

P07-03	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-03	End position number	Shutdown setting	Effective immediately	1	1 to 16	-	-
Set the end segment number in single running or cycle running. When P07-01≠2, the segment number automatic increment switching. The switching sequence is: P07-02, ……, P07-03.

P07-04

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Margin handling method

Shutdown setting

Effective immediately

0 to 1

The starting segment number used for the servo drive will run when it resumes after pausing in multi-segment.

“Pause” indicates that internal multi-segment position enable signal changes from valid to invalid.

Set value	Margin handling method	Remarks
0	Run the remaining positions	If P07-03 (end segment number) =16, servo would stop running in the 2nd segment. After restoring the "Internal Multi-Segment Enable Signal", servo would run from the 3rd segment.
1	Run again from the starting position	If P07-02 (start segment number) =1, and P07-03 (end segment number) =16, servo would stop running in the 2nd segment. After restoring the "Internal Multi-Segment Enable Signal", servo would run from the set value of P07-02

Once paused during multi-segment position operation, the servo drive will abandon the unfinished position instructions in this segment and shutdown. Please refer to Margin handling method

P07-05

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Displacement instruction type

Shutdown setting

Effective immediately

0 to 1

Set the displacement instruction type of multi-segment position function. “Displacement instruction” is the sum of the displacement instructions over a period of time.

Set value	Instruction type	Remarks
0	Relative position instruction	Relative displacement is the increment of the position of the target relative to the current position of motor.
1	Absolute position instruction	Absolute displacement is the increment of the position of the target relative to the origin of motor

P07-06

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Waiting time unit

Shutdown setting

Effective immediately

0 to 1

Set the waiting unit of multi-segment position function. “waiting time” is the interval between the end of this instruction and the start of the next instruction.

Set value	Waiting time unit
0	ms
1	s

P07-09	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-09	The 1st segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-
Set the 1st segment position displacement

P07-10	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-10	Maximum speed of the 1st segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm
Set the maximum speed of the 1st position displacement. Maximum running speed refers to the speed the motor that is not in the process of acceleration and deceleration. If P07-09 (1st position displacement) is set too small, the actual speed of motor would be less than P07-10.

P07-11	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-11	Acceleration and deceleration time of the 1st segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms
Used to set the time when the motor in the multi-segment position is uniformly accelerated from 0rpm to the P07-10 (maximum speed of the 1st segment displacement) in the multi-segment position.

P07-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-12	Waiting time after completion of the 1st segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06
Used to set the waiting time before running the next segment displacement after the multi-segment position of the 1st displacement is completed

P07-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-13	The 2nd segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-14	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-14	Maximum speed of the 2nd segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-15	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-15	Acceleration and deceleration time of the 2nd segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-16	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-16	Waiting time after completion of the 2nd segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-17	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-17	The 3rd segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-18	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-18	Maximum speed of the 3rd segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-19	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-19	Acceleration and deceleration time of the 3rd segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-20	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-20	Waiting time after completion of the 3rd segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-21	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-21	The 4th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-22	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-22	Maximum speed of the 4th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-23	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-23	Acceleration and deceleration time of the 4th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-24	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-24	Waiting time after completion of the 4th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-25	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-25	The 5th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-26	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-26	Maximum speed of the 5th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-27	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-27	Acceleration and deceleration time of the 5th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-28	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-28	Waiting time after completion of the 5th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-29	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-29	The 6th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-30	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-30	Maximum speed of the 6th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-31	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-31	Acceleration and deceleration time of the 6th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-32	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-32	Waiting time after completion of the 6th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-33	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-33	The 7th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-34	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-34	Maximum speed of the 7th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-35	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-35	Acceleration and deceleration time of the 7th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-36	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-36	Waiting time after completion of the 7th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-37	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-37	The 8th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-38	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-38	Maximum speed of the 8th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-39	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-39	Acceleration and deceleration time of the 8th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-40	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-40	Waiting time after completion of the 8th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-41	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-41	The 9th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-42	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-42	Maximum speed of the 9th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-43	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-43	Acceleration and deceleration time of the 9th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-44	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-44	Waiting time after completion of the 9th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-45	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-45	The 10th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-46	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-46	Maximum speed of the 10th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-47	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-47	Acceleration and deceleration time of the 10th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-48	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-48	Waiting time after completion of the 10th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-49	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-49	The 11th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-50	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-50	Maximum speed of the 11th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-51	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-51	Acceleration and deceleration time of the 11th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-52	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-52	Waiting time after completion of the 11th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-53	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-53	The 12th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-54	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-54	Maximum speed of the 12th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-55	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-55	Acceleration and deceleration time of the 12th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-56	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-56	Waiting time after completion of the 12th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-57	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-57	The 13th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-58	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-58	Maximum speed of the 13th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-59	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-59	Acceleration and deceleration time of the 13th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-60	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-60	Waiting time after completion of the 13th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-61	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-61	The 14th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-62	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-62	Maximum speed of the 14th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-63	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-63	Acceleration and deceleration time of the 14th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-64	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-64	Waiting time after completion of the 14th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-65	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-65	The 15th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-66	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-66	Maximum speed of the 15th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-67	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-67	Acceleration and deceleration time of the 15th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-68	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-68	Waiting time after completion of the 15th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

P07-69	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-69	The 16th segment displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	-

P07-70	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-70	Maximum speed of the 16th segment displacement	Operation setting	Effective immediately	100	1 to 5000	-	rpm

P07-71	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-71	Acceleration and deceleration time of the 16th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	ms

P07-72	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P07-72	Waiting time after completion of the 16th segment displacement	Operation setting	Effective immediately	100	1 to 65535	-	Set by P07-06

Group P10 Accessibility

P10-01	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P10-01	JOG speed	Operation setting	Effective immediately	100	0 to 3000	Accessibility	ms
Used to set JOG speed

P10-02

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Factory reset

Shutdown setting

Effective immediately

0 to 65535

Accessibility

Write 1 to factory reset

Set value	Function
0	Invalid
1	Factory reset
Others	Reserved

P10-03

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Fault clearing

Operation setting

Effective immediately

0 to 1

Accessibility

Fault reset operation selection

Set value	Function	Remarks
0	No operation	-
1	Fault clearing	For clearable faults, after the cause of fault is removed, and write 1 to the function code, the drive will stop the fault display and enter the Rdy (or RUN) state again.

✎Note: If the servo S-ON is valid, when the fault is removed and cleared, the servo will directly enter “Run” state. When performing fault clearing actions, please be sure to stop sending control instructions such as pulses to ensure personal safety.

P10-04	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P10-04	Motor overload protection time factor	Operation setting	Effective immediately	100	1 to 800	Accessibility	%
Set the time for code A-82 (Motor overload warning) and Er.34 (Motor overload protection fault) through this function code. According to the heating condition of the motor, modifying this value could make the overload protection time fluctuate up and down the reference value. 50 corresponds to 50%, that is, the time is reduced by half; 300 corresponds to 300%, that is, the time is extended to 3 times.

P10-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P10-05	Motor model	Operation setting	Power-on again	0	0 to 65535	Accessibility	-
This function code displays the motor code code of the motor currently recognized by the servo drive (including the last successful recognition). ✎Note: It is necessary to connect the motor first, and then power on the drive. Otherwise, it will report “Er.27” (encoder disconnection fault) . ✎Note: The function of VD2L motor model is different from other VD2 series model: VD2L motor model function P10-5 and P10-7 set manually to use with motor code. When P10-7 is set as 1, motor code use P10-5 setting value. Please check U0-53 to get the current motor model code.

P10-06

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Multi-turn absolute encoder reset

Shutdown setting

Effective immediately

0 to 1

Accessibility

Used to clear the rotation number of multi-turn absolute encoder (U0-55), current position (U0-56) or clear the encoder fault alarms

Set value	Function
0	No operation;
1	Clear multi-turn data, encoder current position and encoder fault alarms

✎Note: After resetting (P10-06 is set to 1), the absolute position of the encoder will change suddenly, and the mechanical origin return operation is required.

P10-07	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P10-07	Set machine code manually	Operation setting	Power-on again	0	0 to 1	Accessibility	-
This function code modifies the motor code code of the servo drive. When set to 0, the motor code is read from the motor side; when set to 1, the motor code is read from the P10-5 motor model. ✎Note: VD2L manually set machine code, which is different from other VD2 series model: Used to modify the Motor Code of servo drive. 0: Read the motor code automatically. 1: Not read the motor code. Use motor code set in [P10-5]. ✎Note: Please do not modify the motor code code arbitrarily, otherwise, the motor may be damaged.

P10-08	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P10-08	Multi-turn absolute encoder origin offset compensation	Operation setting	Effective immediately	0	2147483647 to 2147483646	Accessibility	-
P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When P10-6 is set to 1, the value of U0-56 is updated to P10-8.

P10-11

Parameter name

Setting method

Effective time

Default

Set range

Application category

Unit

Enable Function of Motor Stall and Overtemperature Protection

Operation setting

Power on again

0 to 1

Auxiliary function

This function code displays the motor code of the motor currently recognized by the servo drive (including the last successful recognition).

Set value	Function
0	When the motor is stalling, the actual rpm is less than 10. The torque instruction exceeds the rated torque. The continuous time is reaching the motor overheating protection time in the corresponding torque, which will report ER.45 fault and shutdown immediately.
1	When the motor is stalling, the torque is becoming the 70% of the rated. (Shield drive stalling over-temperature protection function, which will cause.)

Group P12 Communication parameters

P12-01	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P12-01	Servo address	Operation setting	Effective immediately	1	1 to 247	Communication parameter	-
Set the Modbus communication address of servo drive

P12-02

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Baud rate

Operation setting

Effective immediately

0 to 6

Communication parameter

Set the communication rate between servo drive and Modbus software. The communication rate of the servo drive must be consistent with that of the ModBus software, otherwise, it could not communicate.

Set value	Baud rate setting	Set value	Baud rate setting
0	2400 bps	4	38400 bps
1	4800 bps	5	57600 bps
2	9600 bps	6	115200 bps
3	19200 bps

P12-03

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Serial data format

Operation setting

Effective immediately

0 to 3

Communication parameter

Used to set the data verification mode when the servo drive communicates with ModBus. The data format of servo drive must be consistent with that of the ModBus software, otherwise it could not communicate.

Set value	Data format
0	1 stop bit, no parity
1	1 stop bit, odd parity
2	1 stop bit, even parity
3	2 stop bits, no parity

P12-04

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Write Modbus communication data to EEPROM

Operation setting

Effective immediately

0 to 1

Communication parameter

Whether the function code written by the communication method is saved to EEPRO

Set value	Whether the function code written by the communication method is saved to EEPROM
0	Do not write to EEPROM, and do not save data after power failure;
1	Write to EEPROM, and save data after power failure;

✎Note: If you need to change the function code value frequently, it is recommended to set the function code to 0, otherwise the EEPROM would be damaged due to frequent erase of EEPROM. “Er.02” (Parameter Storage Error) will occur on the servo drive.

P12-05

☆

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

RS422/RS485 function selection

Operation setting

Effective immediately

0 to 1

Communication parameter

Used to set the communication method of VD2F servo drive (The CN3 and CN4 of VD2F are time division multiplexing communication ports, and support RS422 and RS485 time division multiplexing)

Set value	Communication method
0	RS422 communication
1	RS485 communication

✎Note: “☆” indicates that only VD2F servo drive support this function code. The VD2-0XXSA1G model does not have this function code.

P12-06

☆

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Modbus 32-bit variable high and low byte order

Operation setting

Effective immediately

0 to 1

Communication parameter

Used to set the data communication format when the servo driver communicates with ModBus.

Set value	Data definition
0	In big-endian, the low address stores high 16-bit data, and the high address stores low 16-bit data.
1	In small-endian, the low address stores the low 16-bit data and the high address stores the high 16-bit data.

The data format of the servo drive must be consistent with that of the ModBus software; otherwise, communication will fail.

Group P13 Communication input and output terminal

P13-01

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Virtual VDI_1 input value

Operation setting

Effective immediately

0 to 1

DI/DO

When P06-04 is set to 1, DI_1 channel logic is controlled by this function code.

Set value	VDI_1 input level
0	High level
1	Low level

P13-02	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-02	Virtual VDI_2 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-07 is set to 1, DI_2 channel logic is controlled by this function code.

P13-03	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-03	Virtual VDI_3 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-10 is set to 1, DI_3 channel logic is controlled by this function code.

P13-04	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-04	Virtual VDI_2 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-13 is set to 1, DI_4 channel logic is controlled by this function code.

P13-05	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-05	Virtual VDI_5 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-16 is set to 1, DI_5 channel logic is controlled by this function code.

P13-06 ☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-06 ☆	Virtual VDI_6 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-19 is set to 1, DI_6 channel logic is controlled by this function code. “☆” indicates that the VD2F servo drive does not support this function code.

P13-07 ☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-07 ☆	Virtual VDI_7 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-22 is set to 1, DI_7 channel logic is controlled by this function code. “☆” indicates that the VD2F servo drive does not support this function code.

P13-08 ☆	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-08 ☆	Virtual VDI_8 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-
When P06-25 is set to 1, DI_8 channel logic is controlled by this function code. “☆” indicates that the VD2F servo drive does not support this function code.

P13-11

Parameter name

Setting method

Effective time

Default

Range

Category

Unit

Virtual VDO_1 input value

Operation setting

Effective immediately

0 to 1

DI/DO

Used to set the input level logic when the DO function selected by VDO_1 is valid

Set value	VDo_1 input level
0	High level
1	Low level

P13-12	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-12	Virtual VD0_2 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P13-13	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-13	Virtual VD0_3 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

P13-14	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P13-14	Virtual VD0_4 input value	Operation setting	Effective immediately	0	0 to 1	DI/DO	-

Group U0 Universal monitoring

U0-01

Monitoring name

Range

Category

Panel display

Unit

Data type

Servo status

1 to 4

Universal

Decimal

16-bit

Display the status of servo drive.

Display value	Status	Display value	Status
1	Initialization	3	Run
2	Rdy and JOG	4	Fault

U0-02

Monitoring name

Range

Category

Panel display

Unit

Data type

Servo motor speed

-5000 to 5000

Universal

Decimal

rpm

16-bit

Display the actual speed of servo drive. The accuracy is 1 rpm. The display of servo drive panel is as below.

500 rpm display	-500 rpm display

U0-03

Monitoring name

Range

Category

Panel display

Unit

Data type

Input speed instruction

-5000 to 5000

Universal

Decimal

rpm

16-bit

Display input speed instruction. The accuracy is 1 rpm. The display of servo drive panel is as below.

3000 rpm display	-3000 rpm display

U0-04

Monitoring name

Range

Category

Panel display

Unit

Data type

Corresponding speed of position instruction

-5000 to 5000

Universal

Decimal

rpm

16-bit

Display the current speed instruction value of servo drive in position mode. The accuracy is 1 rpm. The display of servo drive panel is as below.

3000 rpm display	-3000 rpm display

U0-05	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-05	Pulse deviation	-2³¹ to 2³¹	Universal	Decimal	Equivalent pulse deviation	32-bit
Display pulse deviation. If U0-05 is set to 32768, the display of servo drive panel is as below.

U0-08	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-08	Input instruction pulse frequency	-	Universal	Decimal	KHz	16-bit
Display the input instruction pulse frequency of servo drive.

U0-09	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-09	Input instruction pulse number	-2³¹ to 2³¹	Universal	Decimal	Equivalent pulse deviation	32-bit
Display instruction pulse number that input the servo drive. If U0-09 is set to -2147483646, the display of servo drive panel is as below.

U0-12	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-12	Real-time torque value	-3000 to 3000	Universal	Decimal	0.1%	16-bit

U0-13	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-13	Encoder cumulative position (Lower 32 bits)	-2³¹ to 2³¹	Universal	Decimal	Encoder unit	32-bit

U0-15	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-15	Encoder cumulative position (High 32 bits)	-2³¹ to 2³¹	Universal	Decimal	Encoder unit	32-bit
Display the cumulative data of encoder position. It is used with U0-13 cooperatively.

U0-16	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-16	Shutdown vibration frequency	0 to 2000	Universal	Decimal	0.1Hz	16-bit
Display the detected frequency during the deceleration to stop.

U0-17	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-17	DI input signal status	00000000 to 11111111	Universal	Binary	Encoder unit	16-bit
Display the current level status of DI terminal. The upper part of the digital tube of servo drive panel is lit up to indicate a high level (denoted by "1"). The lower part is lit up to indicate a low level (denoted by "0"). Take the DI1 to DI7 terminals as the high level and DI8 as the low level as an example. The corresponding binary code is "01111111", and Wecon servo control device debugging software U0-17 displays the current binary value is 0b0111 1111. The panel of servo drive is displayed as below.

U0-19	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-19	DO output signal status	00000000 to 00001111	Universal	Binary	Encoder unit	16-bit
Display the current level status of 4 DO terminals. The upper part of the digital tube of servo drive panel is lit up to indicate a high level (denoted by "1"). The lower part is lit up to indicate a low level (denoted by "0"). Take the DO1, DO2 and DO3 terminals as the high level and DO2 as the low level as an example. The corresponding binary code is "1101", and Wecon servo upper computer debugging software U0-17 displays the current binary value is 0b0000 1101. The panel of servo drive is displayed as below.

U0-20	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-20	Real-time load inertia ratio	0 to 1000000	Universal	Decimal	%	16-bit
Display the current load inertia ratio. If the load inertia ratio is 3 times (300%) , the panel of servo drive is displayed as below.

U0-21

Monitoring name

Range

Category

Panel display

Unit

Data type

AI1 input voltage value

Universal

Decimal

16-bit

Reserved☆

Display the actual sampling voltage of analog channel 1.

10.00V display	-10.00V display

“☆” indicates that the VD2F servo drive does not have this monitoring.

U0-22	Monitoring name	Range	Category	Panel display	Unit	Data type
	AI2 input voltage value	-	Universal	Decimal	V	16-bit
	Reserved☆
“☆” indicates that the VD2F servo drive does not have this monitoring.

U0-23	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-23	Vibration Frequency	-	Universal	Decimal	Hz	16-bit

U0-24	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-24	Vibration amplitude	-	Universal	Decimal	rpm	16-bit

U0-25	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-25	Forward torque limit value	0 to 300	Universal	Decimal	%	16-bit
Display the set value of P01-15 (forward torque limit) of servo drive. If U0-25 is 288%, the panel of servo drive is displayed as below.

U0-26	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-26	Reverse torque limit value	0 to 300	Universal	Decimal	%	16-bit
Display the set value of P01-16 (reverse torque limit) of servo drive. If U0-26 is 300%, the panel of servo drive is displayed as below.

U0-27	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-27	Forward speed limit value	0 to 5000	Universal	Decimal	rpm	16-bit
Display the set value of P01-12 (forward speed threshold) of servo drive. If P01-12 is set to 2000, the panel of servo drive is displayed as below.

U0-28	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-28	Reverse speed limit value	-5000 to 0	Universal	Decimal	rpm	16-bit
Display the set value of P01-13 (reverse speed threshold) of servo drive. If P01-13 is set to 3000, the panel of servo drive is displayed as below.

U0-29	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-29	Mechanical angle	0 to 359	Universal	Decimal	°	16-bit
Display current mechanical angle of motor. 0 corresponds to a mechanical angle of 0 degree. If the mechanical angle is 270°, the panel of servo drive is displayed as below.

U0-30	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-30	Electrical angle	0 to 359	Universal	Decimal	°	16-bit
Display current electrical angle of motor. The accuracy is 1°. When the motor rotates, the angle range is 360°. When the motor is 4 poles, every time the motor is rotated one turn, it undergoes a change process of 0° to 359° four times.

U0-31	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-31	Bus voltage	-	Universal	Decimal	V	16-bit
Display the DC bus voltage of the main circuit input voltage of servo drive after rectification. If the bus voltage is 310.9, the panel of servo drive is displayed as below.

U0-32	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-32	Radiator temperature	-	Universal	Decimal	°C	16-bit

U0-33	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-33	Instantaneous output power	-	Universal	Decimal	W	16-bit

U0-34	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-34	Average output power	-	Universal	Decimal	W	16-bit

U0-35	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-35	Total operation time (hour)	-	Universal	Decimal	h	16-bit

U0-37	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-37	Total operation time (minutes)	-	Universal	Decimal	min	16-bit

U0-38	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-38	Total operation time (seconds)	-	Universal	Decimal	s	16-bit

U0-39	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-39	Load torque percentage	-	Universal	Decimal	%	16-bit
Display current load torque percentage. If the current load torque percentage is 10.3%, the panel of servo drive is displayed as below.

U0-40	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-40	Current operation time (hour)	-	Universal	Decimal	h	16-bit

U0-42	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-42	Current operation time (minutes)	-	Universal	Decimal	min	16-bit

U0-43	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-43	Current operation time (seconds)	-	Universal	Decimal	s	16-bit

U0-44	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-44	Instantaneous braking resistor power	-	Universal	Decimal	W	16-bit

U0-46	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-46	Average braking resistor power	-	Universal	Decimal	W	16-bit

U0-48	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-48	Power-on times	-	Universal	Decimal	Times	16-bit

U0-49	Monitoring value name	Range	Category	Panel display	Unit	Data type
U0-49	Internal counting of motor overload	--	Universal	Decimal	100	16 Bit

U0-50	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-50	Motor cumulative number of turns (low 32 bits)	0 to 2³²-1	Universal	Decimal	Cycles	32-bit

U0-51	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-51	Motor cumulative number of turns (high 32 bits)	0 to 2³²-1	Universal	Decimal	Cycles	32-bit

U0-53	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-53	Motor model code	-	Universal	Hexadecimal	-	16-bit
Display current Motor model code. Take WD80M-07530S-A1F (A026) as an example, the panel of servo drive is displayed as below.

U0-54	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-54	Absolute encoder position within 1 circle	0 to 2³²-1	Universal	Decimal	Encoder unit	32-bit
Display the single turn position feedback value of absolute encoder

U0-55	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-55	Circle numbers of multi-turn absolute encoder	0 to 65535	Universal	Decimal	Encoder unit	16-bit
Display the circle number of multi-turn absolute encoder

U0-56	Monitoring name	Range	Category	Panel display	Unit	Data type
U0-56	Multi-turn absolute encoder current position	-2³¹ to 2³¹	Universal	Decimal	Instruction unit	32-bit
Display the absolute position of motor (instruction unit). It is only valid is multi-turn absolute encoder motor

Group U1 Warning monitoring

U1-01

Monitoring name

Range

Category

Panel display

Unit

Data type

Current fault code

Warning

16-bit

If there is fault in servo drive, it would display the corresponding fault. If not, the panel displays “---”.

Take the fault “encoder disconnect” as an example, the panel of servo drive is displayed as below.

Servo drive has an fault “encoder disconnection”	Servo drive has no fault

U1-02

Monitoring name

Range

Category

Panel display

Unit

Data type

Current warning code

Warning

16-bit

If there is warning in servo drive, it would display the corresponding warning. If not, the panel displays “---”.

Take the warning“DI port configuration duplication” as an example, the panel is displayed as below.

Servo drive has an warning “DI port configuration duplication”	Servo drive has no warning

U1-03	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-03	U phase current when faults occur	-	Warning	Decimal	A	16-bit

U1-04	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-04	V phase current when faults occur	-	Warning	Decimal	A	16-bit

U1-05	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-05	Bus voltage when faults occur	-	Warning	Decimal	V	16-bit

U1-06	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-06	IGBT temperature when faults occur	-	Warning	Decimal	℃	16-bit

U1-07	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-07	Torque component when faults occur	-	Warning	Decimal	%	16-bit

U1-08	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-08	Excitation component when faults occur	-	Warning	Decimal	%	16-bit

U1-09	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-09	Position deviation when faults occur	-	Warning	Decimal	Encoder unit	32-bit

U1-10	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-10	The speed when faults occur	-	Warning	Decimal	rpm	16-bit

U1-11	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-11	The time when faults occur	-	Warning	Decimal	s	16-bit

U1-12	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-12	Number of faults in this operation	-	Warning	Decimal	-	16-bit

U1-13	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-13	Number of warnings in this operation	-	Warning	Decimal	-	16-bit

U1-14	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-14	Total number of historical faults	-	Warning	Decimal	-	16-bit

U1-15	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-15	Total number of historical warnings	-	Warning	Decimal	-	16-bit

U1-16	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-16	The 1st fault code of the most recent	-	Warning	-	-	16-bit
Display the 1st fault code of the most recent of servo drive

U1-17	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-17	The 2nd fault code of the most recent	-	Warning	-	-	16-bit

U1-18	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-18	The 3rd fault code of the most recent	-	Warning	-	-	16-bit

U1-19	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-19	The 4th fault code of the most recent	-	Warning	-	-	16-bit

U1-20	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-20	The 5th fault code of the most recent	-	Warning	-	-	16-bit

U1-21	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-21	The 1st warning code of the most recent	-	Warning	-	-	16-bit
Display the 1st warning code of the most recent of servo drive

U1-22	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-22	The 2nd warning code of the most recent	-	Warning	-	-	16-bit

U1-23	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-23	The 3rd warning code of the most recent	-	Warning	-	-	16-bit

U1-24	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-24	The 4th warning code of the most recent	-	Warning	-	-	16-bit

U1-25	Monitoring name	Range	Category	Panel display	Unit	Data type
U1-25	The 5th warning code of the most recent	-	Warning	-	-	16-bit

Group U2 Device monitoring

U2-01	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-01	Product series	-	Device	Hexadecimal	-	16-bit
Display the product series code of servo drive. The product series code of VD2A and VD2B is 0x4432. The product series code of VD2F is 0x3246. There are displayed as below.

U2-02	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-02	Model	-	Device	Hexadecimal	-	16-bit
Display the servo drive model.

U2-03

Monitoring name

Range

Category

Panel display

Unit

Data type

Model

Warning

Hexadecimal

16-bit

U2-01 display	U2-02 display	U2-03 display	Model
			VD2-010SA1G
			VD2-014SA1G
			VD2-016SA1G
			VD2-019SA1G
			VD2-021SA1G
			VD2-025SA1G
			VD2-030SA1G
			VD2F-003SA1P
			VD2F-010SA1P
			VD2F-014SA1P
			VD2L-010SA1P
			VD2L-014SA1P
			VD2-010SA1H
			VD2-014SA1H
			VD2-016SA1H
			VD2-019SA1H
			VD2-021SA1H
			VD2-016TA1G
			VD2-019TA1G
			VD2-021TA1G
			VD2-030TA1G
			VD2-040TA1G
			VD2-050TA1G
			VD2-016TA1H
			VD2-019TA1H
			VD2-021TA1H
			VD2-010SA1R
			VD2-014SA1R
			VD2-016SA1R
			VD2-019SA1R
			VD2-021SA1R

U2-04	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-04	Firmware version	-	Device	Decimal	-	16-bit
Display the firmware version Display format: X.YY. For example, 1.13. The panel is displayed as below.

U2-05	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-05	FPGA version	-	Device	Decimal	-	16-bit
Display the hardware version (FPGA) Display format: X.YY. For example, 1.01. The panel is displayed as below.

U2-06	Monitoring name	Range	Category	Panel display	Unit	Data type
	Manufacture date (year)	-	Device	Decimal	Year	16-bit
	Firmware date (year) *
Display the year of manufacture of the VD2F drive firmware.

U2-07	Monitoring name	Range	Category	Panel display	Unit	Data type
	Manufacture date (month)	-	Device	Decimal	Month	16-bit
	Firmware date (month) *
Display the month of manufacture of the VD2F drive firmware.

U2-08

Monitoring name

Range

Category

Panel display

Unit

Data type

Manufacture date (day)

Device

Decimal

Day

16-bit

Firmware date (day) *

Displays the production date of the VD2F drive firmware.

For example, the firmware production day of VD2F-014SA1P_V1.01 is January 10, 2022, the panel is displayed as below.

U2-06	U2-07	U2-08

U2-09	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-09	Device serial number 1	-	Warning	Decimal	-	16-bit

U2-10	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-10	Device serial number 2	-	Warning	Decimal	-	16-bit

U2-11	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-11	Device serial number 3	-	Warning	Decimal	-	16-bit

U2-12	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-12	Device serial number 4	-	Warning	Decimal	-	16-bit

U2-13	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-13	Device serial number 5	-	Warning	Decimal	-	16-bit

U2-14	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-14	Device serial number 6	-	Warning	Decimal	-	16-bit

U2-15	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-15	Device serial number 7	-	Warning	Decimal	-	16-bit

U2-16	Monitoring name	Range	Category	Panel display	Unit	Data type
U2-16	Device serial number 8	-	Warning	Decimal	-	16-bit

09 Parameters

Group P00 Basic settings

Group P01 Control parameters

Group P02 Gain adjustment

Group P03 Self-adjusting parameters

Group P04 Vibration suppression

Group P05 Signal input and output

Group P06 DI/DO configuration

Group P07 multi-segment position

Group P10 Accessibility

Group P12 Communication parameters

Group P13 Communication input and output terminal

Group U0 Universal monitoring

Group U1 Warning monitoring

Group U2 Device monitoring

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