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Wiki source code of 09 Parameters

Version 52.1 by Stone Wu on 2022/09/22 11:54
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1 = **Group P00 Basic settings** =
2
3 (% class="table-bordered" %)
4 |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle;" %)**P00-01**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle;" %)**Default**|=(% style="text-align: center; vertical-align: middle;" %)**Range**|=(% style="text-align: center; vertical-align: middle;" %)**Category**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
5 |=(% style="text-align: center; vertical-align: middle;" %)Control mode|(% style="text-align:center; vertical-align:middle" %)(((
6 Shutdown setting
7 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 6|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
8 |(% colspan="8" scope="row" %)(((
9 Used to set the control mode of servo drive
10
11 (% class="table-bordered" %)
12 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 121px;" %)**Setting value**|=(% style="text-align: center; vertical-align: middle; width: 145px;" %)**Control mode**|=(% style="text-align: center; vertical-align: middle;" %)**Remarks**
13 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)1|(% style="text-align:center; vertical-align:middle; width:145px" %)Position control|For position control parameter setting, please refer to __[[6.2 Position control mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HPositioncontrolmode]]__
14 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)2|(% style="text-align:center; vertical-align:middle; width:145px" %)Speed control|For speed control parameter setting, please refer to __[[6.3 Speed control mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedcontrolmode]]__
15 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)3|(% style="text-align:center; vertical-align:middle; width:145px" %)Torque control|For torque control parameter setting, please refer to __[[6.4 Torque control mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HTorquecontrolmode]]__
16 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)4|(% style="text-align:center; vertical-align:middle; width:145px" %)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.(((
17 (% class="table-bordered" style="margin-left:auto; margin-right:auto; width:623px" %)
18 |=(% style="text-align: center; vertical-align: middle; width: 305px;" %)**MixModeSel terminal logic**|=(% style="text-align: center; vertical-align: middle; width: 316px;" %)**Control mode**
19 |(% style="text-align:center; vertical-align:middle; width:305px" %)Invalid|(% style="text-align:center; vertical-align:middle; width:316px" %)Position control
20 |(% style="text-align:center; vertical-align:middle; width:305px" %)Valid|(% style="text-align:center; vertical-align:middle; width:316px" %)Speed control
21 )))
22 |=(% scope="col" style="text-align: center; vertical-align: middle; width: 121px;" %)5|(% style="text-align:center; vertical-align:middle; width:145px" %)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.(((
23 (% class="table-bordered" style="margin-left:auto; margin-right:auto; width:628px" %)
24 |=(% style="text-align: center; vertical-align: middle; width: 309px;" %)**MixModeSel terminal logic**|=(% style="text-align: center; vertical-align: middle; width: 317px;" %)**Control mode**
25 |(% style="text-align:center; vertical-align:middle; width:309px" %)Invalid|(% style="text-align:center; vertical-align:middle; width:317px" %)Position control
26 |(% style="text-align:center; vertical-align:middle; width:309px" %)Valid|(% style="text-align:center; vertical-align:middle; width:317px" %)Torque control
27 )))
28 |=(% scope="col" style="text-align: center; vertical-align: middle; width: 121px;" %)6|(% style="text-align:center; vertical-align:middle; width:145px" %)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.(((
29 (% class="table-bordered" style="margin-left:auto; margin-right:auto; width:636px" %)
30 |=(% style="text-align: center; vertical-align: middle; width: 312px;" %)**MixModeSel terminal logic**|=(% style="text-align: center; vertical-align: middle; width: 322px;" %)**Control mode**
31 |(% style="text-align:center; vertical-align:middle; width:312px" %)Invalid|(% style="text-align:center; vertical-align:middle; width:322px" %)Speed control
32 |(% style="text-align:center; vertical-align:middle; width:312px" %)Valid|(% style="text-align:center; vertical-align:middle; width:322px" %)Torque control
33 )))
34
35 When P00-01 is set to 4, 5 or 6, please refer to __[[6.5 Mixed control mode>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HMixedcontrolmode]]__.
36 )))
37
38 (% class="table-bordered" %)
39 |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle;" %)**P00-04**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle;" %)**Default**|=(% style="text-align: center; vertical-align: middle;" %)**Range**|=(% style="text-align: center; vertical-align: middle;" %)**Category**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
40 |=(% style="text-align: center; vertical-align: middle;" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
41 Shutdown setting
42 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
43 |(% colspan="8" scope="row" style="text-align:center; vertical-align:middle" %)(((
44 Set the forward rotation direction of the motor when looking at the motor axis.
45
46 (% class="table-bordered" %)
47 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Rotation direction**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
48 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Take CW as forward direction|(% style="text-align:center; vertical-align:middle" %)When looking at the motor axis, the rotation direction of the motor is clockwise
49 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Take CCW as forward direction|(% style="text-align:center; vertical-align:middle" %)When looking at the motor axis, the rotation direction of the motor is anticlockwise
50
51 (% style="text-align:center" %)
52 [[image:image-20220608155014-1.png||class="img-thumbnail"]]
53 )))
54
55 (% class="table-bordered" %)
56 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-05**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
57 |(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown method|(% style="text-align:center; vertical-align:middle" %)(((
58 Shutdown setting
59 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
60 |(% colspan="8" %)Set the forward rotation direction of the motor when looking at the motor axis.(((
61 (% class="table-bordered" %)
62 |=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Setting value**|=(% style="text-align: center; vertical-align: middle;" %)**Shutdown method**|=(% style="text-align: center; vertical-align: middle;" %)**Remarks**
63 |=(% style="text-align: center; vertical-align: middle;" %)0|(% style="text-align:center; vertical-align:middle" %)(((
64 Free shutdown.
65
66 The motor shaft remains free
67 )))|(% rowspan="2" %)(((
68 Please set reasonable shutdown according to the machinery and running requirement.
69
70 Please refer to __[[6.1.7 Servo shutdown>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HServoshutdown]]__
71 )))
72 |=(% style="text-align: center; vertical-align: middle;" %)1|(% style="text-align:center; vertical-align:middle" %)(((
73 Zero-speed shutdown.
74
75 The motor shaft remains free
76 )))
77 )))
78
79 (% class="table-bordered" %)
80 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-09**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
81 |(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
82 Operation setting
83 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
84 |(% colspan="8" %)(((
85 Used to set the way in which braking energy is absorbed and released.
86
87 (% class="table-bordered" %)
88 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Braking resistor setting**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
89 |(% style="text-align:center; vertical-align:middle" %)0|Use built-in braking resistor|(% rowspan="4" %)Please refer to __[[6.1.5 Braking resistor>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HBrakingresistor]]__ to choose the right braking method
90 |(% style="text-align:center; vertical-align:middle" %)1|Use external braking resistor and natural cooling
91 |(% style="text-align:center; vertical-align:middle" %)2|Use external braking resistor and forced air cooling (not settable)
92 |(% style="text-align:center; vertical-align:middle" %)3|No braking resistors are used, and all are absorbed by capacitance
93
94 ✎**Note:  **VD2-010SA1G and VD2F-010SA1P 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).
95 )))
96
97 (% class="table-bordered" %)
98 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-10**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
99 |(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
100 Operation setting
101 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)Ω
102 |(% colspan="8" %)(((
103 Used to set the power of external braking resistor of servo drive.
104
105 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.
106
107 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.
108
109 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.
110
111 Please refer to __[[g>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/02%20Product%20Information/#HThecompositionoftheservodrive]]'g'g'g'g'g'g'g'g'g'g'g'g'g'g'g'g'g'g__.
112 )))
113
114 (% class="table-bordered" %)
115 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-11**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
116 |(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
117 Operation setting
118 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)W
119 |(% colspan="8" %)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.
120
121 (% class="table-bordered" %)
122 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P00-12**|(% style="text-align:center; vertical-align:middle; width:306px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:181px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:216px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:91px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:64px" %)**Unit**
123 |(% style="text-align:center; vertical-align:middle; width:306px" %)(((
124 Position pulse type selection
125 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
126 Operation setting
127 )))|(% style="text-align:center; vertical-align:middle; width:216px" %)(((
128 Power-on again
129 )))|(% style="text-align:center; vertical-align:middle; width:91px" %)0|(% style="text-align:center; vertical-align:middle; width:122px" %)0 to 5|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
130 Position mode
131 )))|(% style="text-align:center; vertical-align:middle; width:64px" %)-
132 |(% colspan="8" %)In position control mode, when position instruction source is pulse instruction (P01-06=0) , input pulse pattern.(((
133 (% class="table-bordered" %)
134 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Pulse pattern**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
135 |(% style="text-align:center; vertical-align:middle" %)0|Direction + pulse(positive logic)|(% rowspan="6" %)Please refer to __Table 6-15__ in __[[6.2.1 Position instruction input setting>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HPositioninstructioninputsetting]]__
136 |(% style="text-align:center; vertical-align:middle" %)1|CW/CCW
137 |(% style="text-align:center; vertical-align:middle" %)2|AB phase orthogonal pulse (4 times frequency)
138 |(% style="text-align:center; vertical-align:middle" %)3|Direction + pulse (negative logic)
139 |(% style="text-align:center; vertical-align:middle" %)4|CW/CCW (negative logic)
140 |(% style="text-align:center; vertical-align:middle" %)5|AB phase orthogonal pulse (4 times frequency negative logic)
141 )))
142
143 (% class="table-bordered" %)
144 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-13**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
145 |(% style="text-align:center; vertical-align:middle" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle" %)(((
146 Shutdown setting
147 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)300|(% style="text-align:center; vertical-align:middle" %)1 to 500|(% style="text-align:center; vertical-align:middle" %)(((
148 Position mode
149 )))|(% style="text-align:center; vertical-align:middle" %)KHz
150 |(% colspan="8" %)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).
151
152 (% class="table-bordered" %)
153 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P00-14**|(% style="text-align:center; vertical-align:middle; width:333px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:178px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:208px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:101px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**
154 |(% style="text-align:center; vertical-align:middle; width:333px" %)(((
155 Position pulse anti-interference level
156 )))|(% style="text-align:center; vertical-align:middle; width:178px" %)(((
157 Operation setting
158 )))|(% style="text-align:center; vertical-align:middle; width:208px" %)(((
159 Power-on again
160 )))|(% style="text-align:center; vertical-align:middle; width:92px" %)2|(% style="text-align:center; vertical-align:middle; width:101px" %)0 to 9|(% style="text-align:center; vertical-align:middle; width:148px" %)(((
161 Position mode
162 )))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
163 |(% colspan="8" %)In position control mode, filter the input pulse. The larger the P00-14 setting value, the greater the filter depth.(((
164 (% class="table-bordered" %)
165 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Filtering time**|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Filtering time**
166 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)No filtering|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)2.048us
167 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)128ns|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)4.096 us
168 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)256ns|(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle" %)8.192 us
169 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)512ns|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)16.384 us
170 |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)1.024us|(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle" %)VD2: 32.768us. VD2F: 25.5us
171 )))
172
173 (% class="table-bordered" %)
174 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P00-16**|(% style="text-align:center; vertical-align:middle; width:225px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:207px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:101px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:147px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
175 |(% style="text-align:center; vertical-align:middle; width:225px" %)Number of instruction pulses per turn of motor|(% style="text-align:center; vertical-align:middle; width:196px" %)(((
176 Shutdown setting
177 )))|(% style="text-align:center; vertical-align:middle; width:207px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:96px" %)10000|(% style="text-align:center; vertical-align:middle; width:101px" %)0 to 131072|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
178 Position mode
179 )))|(% style="text-align:center; vertical-align:middle" %)W
180 |(% colspan="8" %)Used to set the number of instruction pulses required for per turn of motor
181
182 (% class="table-bordered" %)
183 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:76px" %)**P00-17**|(% style="text-align:center; vertical-align:middle; width:233px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:248px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:82px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
184 |(% style="text-align:center; vertical-align:middle; width:233px" %)(((
185 Electronic gear 1 numerator
186 )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
187 Operationsetting
188 )))|(% style="text-align:center; vertical-align:middle; width:248px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:82px" %)1|(% style="text-align:center; vertical-align:middle; width:145px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
189 Position mode
190 )))|(% style="text-align:center; vertical-align:middle" %)W
191 |(% colspan="8" %)Used to set the numerator of the first group electronic gear for position instruction. This function code is only valid when P00-16=0.
192
193 (% class="table-bordered" %)
194 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P00-18**|(% style="text-align:center; vertical-align:middle; width:216px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:163px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:247px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:88px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:121px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
195 |(% style="text-align:center; vertical-align:middle; width:216px" %)(((
196 Electronic gear 1 denominator
197 )))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
198 Operation setting
199 )))|(% style="text-align:center; vertical-align:middle; width:247px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:88px" %)1|(% style="text-align:center; vertical-align:middle; width:136px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
200 Position mode
201 )))|(% style="text-align:center; vertical-align:middle" %)W
202 |(% colspan="8" %)Used to set the numerator of the first group electronic gear for position instruction. This function code is only valid when P00-16=0.
203
204 (% class="table-bordered" %)
205 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P00-19**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:198px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:245px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
206 |(% style="text-align:center; vertical-align:middle; width:212px" %)(((
207 Electronic gear 2 numerator
208 )))|(% style="text-align:center; vertical-align:middle; width:198px" %)(((
209 Operation setting
210 )))|(% style="text-align:center; vertical-align:middle; width:245px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:95px" %)1|(% style="text-align:center; vertical-align:middle; width:133px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
211 Position mode
212 )))|(% style="text-align:center; vertical-align:middle" %)W
213 |(% colspan="8" %)Used to set the numerator of the second group electronic gear for position instruction. This function code is only valid when P00-16=0.
214
215 (% class="table-bordered" %)
216 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:82px" %)**P00-20**|(% style="text-align:center; vertical-align:middle; width:218px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
217 |(% style="text-align:center; vertical-align:middle; width:218px" %)(((
218 Electronic gear 2 denominator
219 )))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
220 Operation setting
221 )))|(% style="text-align:center; vertical-align:middle; width:200px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:95px" %)1|(% style="text-align:center; vertical-align:middle; width:144px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
222 Position mode
223 )))|(% style="text-align:center; vertical-align:middle" %)W
224 |(% colspan="8" %)Used to set the numerator of the second group electronic gear for position instruction. This function code is only valid when P00-16=0.
225
226 (% class="table-bordered" %)
227 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)(((
228 **P00-21**
229
230 ☆
231 )))|(% style="text-align:center; vertical-align:middle; width:200px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:215px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:169px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:131px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:116px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
232 |(% style="text-align:center; vertical-align:middle; width:200px" %)Pulse frequency division output direction|(% style="text-align:center; vertical-align:middle; width:215px" %)(((
233 Operation setting
234 )))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
235 Power-on again
236 )))|(% style="text-align:center; vertical-align:middle; width:131px" %)2|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
237 Position mode
238 )))|(% style="text-align:center; vertical-align:middle" %)-
239 |(% colspan="8" %)Used to set the pulse frequency division output direction(((
240 (% class="table-bordered" %)
241 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Output direction**
242 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)CW is forward direction (A is ahead of B)
243 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)CCW is forward direction (A is ahead of B)
244 )))
245
246 “☆” indicates that the VD2F servo drive does not support this function code.
247
248 (% class="table-bordered" %)
249 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:98px" %)(((
250 **P00-22**
251
252 ☆
253 )))|(% style="text-align:center; vertical-align:middle; width:259px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
254 |(% style="text-align:center; vertical-align:middle; width:259px" %)The number of output pulses per turn of motor|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
255 Operation setting
256 )))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
257 Power-on again
258 )))|(% style="text-align:center; vertical-align:middle; width:111px" %)2500|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 2500|(% style="text-align:center; vertical-align:middle; width:118px" %)(((
259 Position mode
260 )))|(% style="text-align:center; vertical-align:middle" %)-
261 |(% colspan="8" %)✎**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.
262
263 “☆” indicates that the VD2F servo drive does not support this function code.
264
265 (% class="table-bordered" %)
266 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:92px" %)(((
267 **P00-23**
268
269 ☆
270 )))|(% style="text-align:center; vertical-align:middle; width:207px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:201px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
271 |(% style="text-align:center; vertical-align:middle; width:207px" %)Z pulse output OZ polarity|(% style="text-align:center; vertical-align:middle; width:201px" %)(((
272 Operation setting
273 )))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
274 Power-on again
275 )))|(% style="text-align:center; vertical-align:middle; width:105px" %)2|(% style="text-align:center; vertical-align:middle; width:129px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:125px" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
276 |(% colspan="8" %)Used to set the level logic of Z pulse(((
277 (% class="table-bordered" %)
278 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Output direction**
279 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level
280 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level
281 )))
282
283 (% class="table-bordered" %)
284 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:89px" %)**P00-25**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:167px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:170px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
285 |(% style="text-align:center; vertical-align:middle; width:136px" %)Position deviation limit|(% style="text-align:center; vertical-align:middle; width:167px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:170px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:105px" %)60000|(% style="text-align:center; vertical-align:middle; width:154px" %)0 to 2147483646|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
286 Position mode
287 )))|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
288 |(% colspan="8" %)(((
289 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).
290
291 When the function code is set to 0, positional bias is ignored.
292 )))
293
294 (% class="table-bordered" %)
295 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)(((
296 **P00-27**
297
298 ☆
299 )))|(% style="text-align:center; vertical-align:middle; width:298px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:161px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
300 |(% style="text-align:center; vertical-align:middle; width:298px" %)Pulse output frequency division numerator|(% style="text-align:center; vertical-align:middle; width:196px" %)(((
301 Operation setting
302 )))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
303 Power-on again
304 )))|(% style="text-align:center; vertical-align:middle; width:86px" %)1|(% style="text-align:center; vertical-align:middle; width:99px" %)1 to 2500|(% style="text-align:center; vertical-align:middle; width:99px" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
305 |(% colspan="8" %)Orthogonal coded output (numerator/denominator format). Used to set pulse output frequency division numerator. (When P00-22=0, and the pulse output frequency division numerator value is less than the pulse output frequency division denominator value, this function code is valid)
306
307 “☆” indicates that the VD2F servo drive does not support this function code.
308
309 (% class="table-bordered" %)
310 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:87px" %)(((
311 **P00-28**
312
313 ☆
314 )))|(% style="text-align:center; vertical-align:middle; width:299px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:194px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:80px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:112px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
315 |(% style="text-align:center; vertical-align:middle; width:299px" %)Pulse output frequency division denominator|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
316 Operation setting
317 )))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
318 Power-on again
319 )))|(% style="text-align:center; vertical-align:middle; width:80px" %)1|(% style="text-align:center; vertical-align:middle; width:112px" %)1 to 2500|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
320 |(% colspan="8" %)Orthogonal coded output (numerator/denominator format). 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)
321
322 “☆” indicates that the VD2F servo drive does not support this function code.
323
324 (% class="table-bordered" %)
325 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:88px" %)**P00-29**|(% style="text-align:center; vertical-align:middle; width:309px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:170px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:169px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:124px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
326 |(% style="text-align:center; vertical-align:middle; width:309px" %)The number of equivalent position units in one circle|(% style="text-align:center; vertical-align:middle; width:170px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:169px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:110px" %)10000|(% style="text-align:center; vertical-align:middle; width:124px" %)0 to 131072|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
327 |(% colspan="8" %)The equivalent position unit of one circle of the motor
328
329 (% class="table-bordered" %)
330 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:88px" %)**P00-30**|(% style="text-align:center; vertical-align:middle; width:312px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:173px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:170px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:112px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
331 |(% style="text-align:center; vertical-align:middle; width:312px" %)Shielded multi-turn absolute encoder battery failure|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
332 Operation setting
333 )))|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
334 Power-on again
335 )))|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:112px" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
336 |(% colspan="8" %)Used to set multi-turn absolute encoder battery fault alarm setting function. (VD2-SA V1.13 firmware added)(((
337 (% class="table-bordered" %)
338 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
339 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Shield|Detect multi-turn absolute encoder battery under voltage and battery low-voltage fault. Please refer to __[[6.6 Absolute system>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HAbsolutesystem]]__.
340 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Not shield|Shield multi-turn absolute encoder battery under voltage and battery low-voltage fault.This would cause mechanical failure, please use with caution.
341 )))
342
343 = **Group P01 Control parameters** =
344
345 (% class="table-bordered" %)
346 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-01**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
347 |(% style="text-align:center; vertical-align:middle" %)Speed instruction source|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)-
348 |(% colspan="8" %)(((
349 Select speed instruction source
350
351 (% class="table-bordered" %)
352 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
353 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Internal speed instruction|(% style="text-align:center; vertical-align:middle" %)Please refer to __[[6.3.1 Speed instruction input setting>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedinstructioninputsetting]]__.
354 |(% style="text-align:center; vertical-align:middle" %)1*|(% style="text-align:center; vertical-align:middle" %)AI_1 analog input|(% style="text-align:center; vertical-align:middle" %)(((
355 External speed instruction. Please refer to __[[4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
356 )))
357
358 “*” indicates that the VD2F servo drive does not support this function code.
359 )))
360
361 (% class="table-bordered" %)
362 |(% rowspan="3" style="text-align:center; vertical-align:middle" %)**P01-02**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
363 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)Internal speed instruction 0|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Operation setting|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Effective immediately|(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
364 -5000 to 5000
365 )))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Speed mode|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
366 |(% style="text-align:center; vertical-align:middle" %)-5000 to 5000*
367 |(% colspan="8" %)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.
368
369 (% class="table-bordered" %)
370 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-03**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
371 |(% style="text-align:center; vertical-align:middle" %)Acceleration time|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)ms
372 |(% colspan="8" %)(((
373 The time that the speed instruction accelerates from 0 to 1000 rpm.
374
375 Please refer to __[[6.3.2 Acceleration and deceleration time setting>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HAccelerationanddecelerationtimesetting]]__
376 )))
377
378 (% class="table-bordered" %)
379 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-04**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
380 |(% style="text-align:center; vertical-align:middle" %)deceleration time|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)ms
381 |(% colspan="8" %)(((
382 The time that the speed instruction decelerates from 1000 to 0 rpm.
383
384 Please refer to __[[6.3.2 Acceleration and deceleration time setting>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HAccelerationanddecelerationtimesetting]]__
385 )))
386
387 (% class="table-bordered" %)
388 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:91px" %)**P01-06**|(% style="text-align:center; vertical-align:middle; width:203px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:216px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
389 |(% style="text-align:center; vertical-align:middle; width:203px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:212px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:216px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:86px" %)0|(% style="text-align:center; vertical-align:middle; width:119px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:105px" %)-|(% style="text-align:center; vertical-align:middle" %)-
390 |(% colspan="8" %)(((
391 Used to select position instruction source when servo drive is in position control mode.
392
393 (% class="table-bordered" %)
394 |(% style="text-align:center; vertical-align:middle; width:115px" %)**Setting value**|(% style="text-align:center; vertical-align:middle; width:174px" %)**Instruction source**|(% style="text-align:center; vertical-align:middle; width:894px" %)**Remarks**
395 |(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:174px" %)Pulse instruction|(% style="width:894px" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HPositioninstructioninputsetting]]__
396 |(% style="text-align:center; vertical-align:middle; width:115px" %)1|(% style="text-align:center; vertical-align:middle; width:174px" %)Internal position instruction|(% style="width:894px" %)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>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#F611]]__.
397
398 “*” indicates that the VD2F servo drive does not support this function code.
399 )))
400
401 (% class="table-bordered" %)
402 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-07**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
403 |(% style="text-align:center; vertical-align:middle" %)(((
404 Torque instruction source
405 )))|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:184px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:126px" %)0|(% style="text-align:center; vertical-align:middle; width:105px" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Torque mode|(% style="text-align:center; vertical-align:middle" %)-
406 |(% colspan="8" %)(((
407 Used to select torque instruction source when servo drive is in torque control mode.
408
409 (% class="table-bordered" %)
410 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Instruction source**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
411 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Internal torque instruction|Please refer to __[[6.4.1 Torque instruction input setting>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HTorqueinstructioninputsetting]]__
412 |(% style="text-align:center; vertical-align:middle" %)1*|(% style="text-align:center; vertical-align:middle" %)AI_1 analog input|Please refer to __[[4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
413
414 “*” indicates that the VD2F servo drive does not support this instruction source
415 )))
416
417 (% class="table-bordered" %)
418 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P01-08**|(% colspan="2" style="text-align:center; vertical-align:middle; width:173px" %)**Parameter name**|(% colspan="2" style="text-align:center; vertical-align:middle; width:164px" %)**Setting method**|(% colspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**Effective time**|(% colspan="2" style="text-align:center; vertical-align:middle; width:261px" %)**Default**|(% colspan="2" style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% colspan="2" style="text-align:center; vertical-align:middle" %)**Unit**
419 |(% colspan="2" style="text-align:center; vertical-align:middle; width:173px" %)Torque instruction keyboard setting value|(% colspan="2" style="text-align:center; vertical-align:middle; width:164px" %)Operation setting|(% colspan="2" style="text-align:center; vertical-align:middle; width:85px" %)Effective immediately|(% colspan="2" style="text-align:center; vertical-align:middle; width:261px" %)0|(% colspan="2" style="text-align:center; vertical-align:middle" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle" %) |(% colspan="2" style="text-align:center; vertical-align:middle" %)0.1%
420 |(% colspan="14" %)Used to set the required torque instruction value when P01-07 is set to 0 (internal torque instruction).
421 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P01-09**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Parameter name**|(% colspan="2" style="text-align:center; vertical-align:middle; width:202px" %)**Setting method**|(% colspan="2" style="text-align:center; vertical-align:middle; width:145px" %)**Effective time**|(% colspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**Default**|(% colspan="2" style="text-align:center; vertical-align:middle; width:224px" %)**Range**|(% colspan="3" style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
422 |(% style="text-align:center; vertical-align:middle; width:171px" %)Speed limit source in torque mode|(% colspan="2" style="text-align:center; vertical-align:middle; width:202px" %)Shutdown setting|(% colspan="2" style="text-align:center; vertical-align:middle; width:145px" %)Effective immediately|(% colspan="2" style="text-align:center; vertical-align:middle; width:79px" %)0|(% colspan="2" style="text-align:center; vertical-align:middle; width:224px" %)0 to 1|(% colspan="3" style="text-align:center; vertical-align:middle" %)Torque mode|(% style="text-align:center; vertical-align:middle" %)-
423 |(% colspan="14" %)(((
424 Used to set speed limit source when servo drive is in torque control mode.
425
426 (% class="table-bordered" %)
427 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Instruction source**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
428 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Internal instruction|Please refer to __[[6.4.4 Speed limit in torque mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedlimitintorquemode]]__
429 |(% style="text-align:center; vertical-align:middle" %)1*|(% style="text-align:center; vertical-align:middle" %)AI_2 analog input|Please refer to __[[4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
430
431 “*” indicates that the VD2F servo drive does not support this instruction source.
432 )))
433
434 (% class="table-bordered" %)
435 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-10**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
436 |(% style="text-align:center; vertical-align:middle" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3600|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)rpm
437 |(% colspan="8" %)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).
438
439 (% class="table-bordered" %)
440 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:88px" %)**P01-11**|(% style="text-align:center; vertical-align:middle; width:225px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
441 |(% style="text-align:center; vertical-align:middle; width:225px" %)Warning speed threshold|(% style="text-align:center; vertical-align:middle; width:171px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3300|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)rpm
442 |(% colspan="8" %)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).
443
444 (% class="table-bordered" %)
445 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:91px" %)**P01-12**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
446 |(% style="text-align:center; vertical-align:middle; width:200px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)rpm
447 |(% colspan="8" %)Used to set the limit value of forward speed
448
449 (% class="table-bordered" %)
450 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:99px" %)**P01-13**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
451 |(% style="text-align:center; vertical-align:middle; width:193px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)rpm
452 |(% colspan="8" %)Used to set the limit value of reverse speed
453
454 (% class="table-bordered" %)
455 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:93px" %)**P01-14**|(% style="text-align:center; vertical-align:middle; width:156px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:88px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:239px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
456 |(% style="text-align:center; vertical-align:middle; width:156px" %)Torque limit source|(% style="text-align:center; vertical-align:middle; width:175px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:211px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:88px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:239px" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)-
457 |(% colspan="8" %)Used to select torque instruction source when servo drive is in torque control mode.(((
458 (% class="table-bordered" %)
459 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Instruction source**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
460 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Internal instruction|Please refer to __[[6.4.3 Torque instruction limit>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HTorqueinstructionlimit]]__
461 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)AI_2 analog input|Please refer to __[[4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
462 )))
463
464 (% class="table-bordered" %)
465 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:91px" %)**P01-15**|(% style="text-align:center; vertical-align:middle; width:169px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
466 |(% style="text-align:center; vertical-align:middle; width:169px" %)(((
467 Forward torque limit
468 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)0.1%
469 |(% colspan="8" %)Used to set the limit value of forward speed
470
471 (% class="table-bordered" %)
472 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P01-16**|(% style="text-align:center; vertical-align:middle; width:194px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:174px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
473 |(% style="text-align:center; vertical-align:middle; width:194px" %)(((
474 Reverse torque limit
475 )))|(% style="text-align:center; vertical-align:middle; width:174px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)0.1%
476 |(% colspan="8" %)(((
477 When P01-14 is set to 0 ()internal) , the setting value of this function code is reverse torque limit value.
478
479 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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HTorqueinstructionlimit]]__.
480 )))
481
482 (% class="table-bordered" %)
483 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:93px" %)**P01-17**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
484 |(% style="text-align:center; vertical-align:middle; width:237px" %)Forward speed limit in torque mode|(% style="text-align:center; vertical-align:middle; width:206px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)rpm
485 |(% colspan="8" %)Used to set forward speed limit value in torque control mode. Please refer to __[[6.4.4 Speed limit in torque mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedlimitintorquemode]]__
486 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:93px" %)**P01-18**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
487 |(% style="text-align:center; vertical-align:middle; width:237px" %)Reverse speed limit in torque mode|(% style="text-align:center; vertical-align:middle; width:206px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)rpm
488 |(% colspan="8" %)Used to set reverse speed limit value in torque control mode. Please refer to __[[6.4.4 Speed limit in torque mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedlimitintorquemode]]__
489
490 (% class="table-bordered" %)
491 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:97px" %)**P01-19**|(% style="text-align:center; vertical-align:middle; width:194px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
492 |(% style="text-align:center; vertical-align:middle; width:194px" %)Torque saturation timeout|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1000|(% style="text-align:center; vertical-align:middle" %)0 to 65535|(% style="text-align:center; vertical-align:middle" %)Protection and restriction|(% style="text-align:center; vertical-align:middle" %)ms
493 |(% colspan="8" %)(((
494 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”.
495
496 ✎**Note:** When this function code is set to 0, saturation timeout fault detection would not be performed, and ignore this fault,
497 )))
498
499 (% class="table-bordered" %)
500 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:93px" %)**P01-21**|(% style="text-align:center; vertical-align:middle; width:230px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:174px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:101px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
501 |(% style="text-align:center; vertical-align:middle; width:230px" %)Zero-speed clamp function selection|(% style="text-align:center; vertical-align:middle; width:175px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:174px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:101px" %)0|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 3|(% style="text-align:center; vertical-align:middle; width:166px" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)-
502 |(% colspan="8" %)Please refer to __[[6.3.4 Zero-speed clamp function>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HZero-speedclampfunction]]__(((
503 (% class="table-bordered" %)
504 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Function**
505 |(% style="text-align:center; vertical-align:middle" %)0|Force speed to 0
506 |(% style="text-align:center; vertical-align:middle" %)1|Force speed to 0, and keep position locked when the actual speed is less than P01-22
507 |(% style="text-align:center; vertical-align:middle" %)2|When the actual speed is less than P01-22, force speed to 0, and keep position locked
508 |(% style="text-align:center; vertical-align:middle" %)3|Invalid. Ignore zero-speed clamp input
509 )))
510
511 (% class="table-bordered" %)
512 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P01-22**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:172px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:127px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
513 |(% style="text-align:center; vertical-align:middle; width:237px" %)Zero speed clamp speed threshold|(% style="text-align:center; vertical-align:middle; width:172px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:222px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:95px" %)20|(% style="text-align:center; vertical-align:middle; width:94px" %)(((
514 0 to 5000
515 )))|(% style="text-align:center; vertical-align:middle; width:127px" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)rpm
516 |(% colspan="8" %)Used to set the speed threshold of zero-speed clamp function Please refer to __[[6.3.4 Zero-speed clamp function>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HZero-speedclampfunction]]__.
517
518 |(% rowspan="2" %)**P01-23**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
519 |(((
520 Internal speed
521
522 Instruction 1
523 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
524 |(% colspan="8" %)(((
525 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.
526
527 |**INSPD3**|**INSPD2**|**INSPD1**|**Internal speed instruction segment number**
528 |0|0|0|0
529 |0|0|1|1
530 |0|1|0|2
531 |(% colspan="4" %)…………
532 |1|1|1|7
533
534 Please refer to [[6.3.1 Speed instruction input setting>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedinstructioninputsetting]]
535 )))
536
537 |(% rowspan="2" %)(((
538
539
540 **P01-24**
541 )))|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
542 |(((
543 Internal speed
544
545 Instruction 2
546 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
547 |(% colspan="8" %)Used to set the speed value of internal speed instruction 2.
548
549 |(% rowspan="2" %)**P01-25**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
550 |(((
551 Internal speed
552
553 Instruction 3
554 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
555 |(% colspan="8" %)Used to set the speed value of internal speed instruction 3.
556 |(% rowspan="2" %)**P01-26**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
557 |(((
558 Internal speed
559
560 Instruction 4
561 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
562 |(% colspan="8" %)Used to set the speed value of internal speed instruction 4.
563
564 |(% rowspan="2" %)**P01-27**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
565 |(((
566 Internal speed
567
568 Instruction 5
569 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
570 |(% colspan="8" %)Used to set the speed value of internal speed instruction 5.
571
572 |(% rowspan="2" %)**P01-28**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
573 |(((
574 Internal speed
575
576 Instruction 6
577 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
578 |(% colspan="8" %)Used to set the speed value of internal speed instruction 6.
579
580 |(% rowspan="2" %)**P01-29**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
581 |(((
582 Internal speed
583
584 Instruction 7
585 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
586 |(% colspan="8" %)Used to set the speed value of internal speed instruction 7.
587
588 |(% rowspan="2" %)**P01-30**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
589 |Delay from brake output ON to instruction reception|Operation setting|Effective immediately|250|0 to 500|-|rpm
590 |(% colspan="8" %)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>>path:#_6.1.8 Brake device]].
591
592 (% class="table-bordered" %)
593 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-31**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
594 |(% style="text-align:center; vertical-align:middle" %)Stationary state. delay from the brake output is OFF to the motor is not energized|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)150|(% style="text-align:center; vertical-align:middle" %)1 to 1000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
595 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HBrakedevice]]__.
596
597 (% class="table-bordered" %)
598 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P01-32**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
599 |(% style="text-align:center; vertical-align:middle" %)Rotation state, when the brake output is OFF, the speed threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)30|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
600 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HBrakedevice]]__.
601
602 |(% rowspan="2" %)**P01-33**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
603 |Rotation status, delay from servo enable OFF to brake output OFF|Operation setting|500| |1 to 1000|-|rpm
604 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HBrakedevice]].
605
606 = **Group P02 Gain adjustment** =
607
608 (% class="table-bordered" %)
609 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P02-01**|(% style="text-align:center; vertical-align:middle; width:245px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
610 |(% style="text-align:center; vertical-align:middle; width:245px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)400|(% style="text-align:center; vertical-align:middle" %)0 to 6200|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1Hz
611 |(% colspan="8" %)Set the proportional gain of the 1st position loop to determine the responsiveness of position control system.
612
613 (% class="table-bordered" %)
614 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P02-02**|(% style="text-align:center; vertical-align:middle; width:240px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
615 |(% style="text-align:center; vertical-align:middle; width:240px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:200px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:220px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)65|(% style="text-align:center; vertical-align:middle" %)0 to 35000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1Hz
616 |(% colspan="8" %)Set the proportional gain of the 1st speed loop to determine the responsiveness of speed loop.
617
618 (% class="table-bordered" %)
619 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:76px" %)**P02-03**|(% style="text-align:center; vertical-align:middle; width:261px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:195px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:108px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
620 |(% style="text-align:center; vertical-align:middle; width:261px" %)1st speed loop integral time constant|(% style="text-align:center; vertical-align:middle; width:206px" %)(((
621 Operation setting
622 )))|(% style="text-align:center; vertical-align:middle; width:195px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)1000|(% style="text-align:center; vertical-align:middle" %)100 to 65535|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1ms
623 |(% colspan="8" %)Set the 1st speed loop integral constant. The smaller the set value, the stronger the integral effect.
624
625 (% class="table-bordered" %)
626 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P02-04**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:208px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
627 |(% style="text-align:center; vertical-align:middle; width:237px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:208px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)35|(% style="text-align:center; vertical-align:middle" %)0 to 6200|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1Hz
628 |(% colspan="8" %)Set the proportional gain of the 2nd position loop to determine the responsiveness of position control system.
629
630 (% class="table-bordered" %)
631 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:87px" %)**P02-05**|(% style="text-align:center; vertical-align:middle; width:230px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:215px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:224px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
632 |(% style="text-align:center; vertical-align:middle; width:230px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:215px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:224px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:89px" %)65|(% style="text-align:center; vertical-align:middle" %)0 to 35000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1Hz
633 |(% colspan="8" %)Set the proportional gain of the 2nd speed loop to determine the responsiveness of speed loop.
634
635 (% class="table-bordered" %)
636 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P02-06**|(% style="text-align:center; vertical-align:middle; width:281px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
637 |(% style="text-align:center; vertical-align:middle; width:281px" %)2nd speed loop integral time constant|(% style="text-align:center; vertical-align:middle; width:184px" %)(((
638 Operation setting
639 )))|(% style="text-align:center; vertical-align:middle; width:209px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:113px" %)1000|(% style="text-align:center; vertical-align:middle" %)100 to 65535|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1ms
640 |(% colspan="8" %)Set the 2nd speed loop integral constant. The smaller the set value, the stronger the integral effect.
641
642 (% class="table-bordered" %)
643 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P02-07**|(% style="text-align:center; vertical-align:middle; width:280px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
644 |(% style="text-align:center; vertical-align:middle; width:280px" %)2nd gain switching mode|(% style="text-align:center; vertical-align:middle" %)(((
645 Operation setting
646 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)-
647 |(% colspan="8" %)Used to set the 2nd gain switching mode.(((
648 (% class="table-bordered" %)
649 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Definition**
650 |(% style="text-align:center; vertical-align:middle" %)0|Switch by DI terminal
651 |(% style="text-align:center; vertical-align:middle" %)1|Speed instruction change rate is too large
652 |(% style="text-align:center; vertical-align:middle" %)2|Large position deviation
653 |(% style="text-align:center; vertical-align:middle" %)3|None
654 )))
655
656 (% class="table-bordered" %)
657 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P02-09**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:189px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
658 |(% style="text-align:center; vertical-align:middle; width:259px" %)Speed feedforward gain|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
659 Operation setting
660 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1%
661 |(% colspan="8" %)Set speed feedforward gain
662
663 (% class="table-bordered" %)
664 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:69px" %)**P02-10**|(% style="text-align:center; vertical-align:middle; width:282px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:179px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:219px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
665 |(% style="text-align:center; vertical-align:middle; width:282px" %)Speed feedforward filtering time constant|(% style="text-align:center; vertical-align:middle; width:179px" %)(((
666 Operation setting
667 )))|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1ms
668 |(% colspan="8" %)Set the time constant of one delay filter related to the speed feedforward input.
669 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:69px" %)**P02-11**|(% style="text-align:center; vertical-align:middle; width:282px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:179px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:219px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
670 |(% style="text-align:center; vertical-align:middle; width:282px" %)Torque feedforward gain|(% style="text-align:center; vertical-align:middle; width:179px" %)(((
671 Operation setting
672 )))|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1%
673 |(% colspan="8" %)Set torque feedforward gain
674
675 (% class="table-bordered" %)
676 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:67px" %)**P02-12**|(% style="text-align:center; vertical-align:middle; width:267px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:182px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:216px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
677 |(% style="text-align:center; vertical-align:middle; width:267px" %)Torque feedforward filter time constant|(% style="text-align:center; vertical-align:middle; width:182px" %)(((
678 Operation setting
679 )))|(% style="text-align:center; vertical-align:middle; width:216px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:121px" %)50|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1ms
680 |(% colspan="8" %)Set the time constant of one delay filter related to the torque feedforward input.
681
682 = **Group P03 Self-adjusting parameters** =
683
684 (% class="table-bordered" %)
685 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P03-01**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:224px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:67px" %)**Unit**
686 |(% style="text-align:center; vertical-align:middle; width:287px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
687 Operation setting
688 )))|(% style="text-align:center; vertical-align:middle; width:224px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:119px" %)300*|(% style="text-align:center; vertical-align:middle; width:110px" %)100 to 10000|(% style="text-align:center; vertical-align:middle; width:125px" %)Self-tuning|(% style="text-align:center; vertical-align:middle; width:67px" %)0.01
689 |(% colspan="8" %)(((
690 Set load inertia ratio: 0.00 to 100.00 times.
691
692 “*” indicates that the factory defaults for different models may differ.
693 )))
694
695 (% class="table-bordered" %)
696 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P03-02**|(% style="text-align:center; vertical-align:middle; width:288px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
697 |(% style="text-align:center; vertical-align:middle; width:288px" %)Load rigidity grade selection|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
698 Operation setting
699 )))|(% style="text-align:center; vertical-align:middle; width:186px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:95px" %)14*|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 31|(% style="text-align:center; vertical-align:middle; width:106px" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)-
700 |(% colspan="8" %)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.
701
702 (% class="table-bordered" %)
703 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P03-03**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:223px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
704 |(% style="text-align:center; vertical-align:middle; width:212px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:212px" %)(((
705 Operation setting
706 )))|(% style="text-align:center; vertical-align:middle; width:223px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:89px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 2|(% style="text-align:center; vertical-align:middle; width:111px" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)-
707 |(% colspan="8" %)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.(((
708 (% class="table-bordered" %)
709 |(% style="text-align:center; vertical-align:middle; width:116px" %)**Setting value**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Instruction source**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
710 |(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="width:177px" %)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.
711 |(% style="text-align:center; vertical-align:middle; width:116px" %)1|(% style="width:177px" %)Manual setting|You need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter
712 |(% style="text-align:center; vertical-align:middle; width:116px" %)2|(% style="width:177px" %)Online automatic self-adjusting mode|Not implemented yet
713 )))
714
715 (% class="table-bordered" %)
716 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P03-04**|(% style="text-align:center; vertical-align:middle; width:283px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:158px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:198px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
717 |(% style="text-align:center; vertical-align:middle; width:283px" %)Online inertia recognition sensitivity|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
718 Operation setting
719 )))|(% style="text-align:center; vertical-align:middle; width:198px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:110px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 2|(% style="text-align:center; vertical-align:middle; width:110px" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)-
720 |(% colspan="8" %)Not implemented yet.
721
722 (% class="table-bordered" %)
723 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P03-05**|(% style="text-align:center; vertical-align:middle; width:255px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:194px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:101px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
724 |(% style="text-align:center; vertical-align:middle; width:255px" %)Number of circles Inertia recognition|(% style="text-align:center; vertical-align:middle; width:154px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:194px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:101px" %)2|(% style="text-align:center; vertical-align:middle; width:113px" %)1 to 20|(% style="text-align:center; vertical-align:middle; width:125px" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)Circle
725 |(% colspan="8" %)Offline load inertia recognition process, motor rotation number setting
726
727 (% class="table-bordered" %)
728 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:71px" %)**P03-06**|(% style="text-align:center; vertical-align:middle; width:247px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:120px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:101px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
729 |(% style="text-align:center; vertical-align:middle; width:247px" %)(((
730 Inertia recognition maximum speed
731 )))|(% style="text-align:center; vertical-align:middle; width:202px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:186px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:120px" %)300 to 2000|(% style="text-align:center; vertical-align:middle; width:101px" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)rpm
732 |(% colspan="8" %)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.
733
734 (% class="table-bordered" %)
735 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P03-07**|(% style="text-align:center; vertical-align:middle; width:301px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:170px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
736 |(% style="text-align:center; vertical-align:middle; width:301px" %)(((
737 Parameter recognition rotation direction
738 )))|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
739 Shutdown setting
740 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(% style="text-align:center; vertical-align:middle" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)-
741 |(% colspan="8" %)Set parameter recognition rotation direction(((
742 (% class="table-bordered" %)
743 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Rotation direction**
744 |(% style="text-align:center; vertical-align:middle" %)0|Forward and reverse reciprocating rotation
745 |(% style="text-align:center; vertical-align:middle" %)1|Forward one-way rotation
746 |(% style="text-align:center; vertical-align:middle" %)2|Reverse one-way rotation
747 )))
748
749 (% class="table-bordered" %)
750 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P03-08**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
751 |(% style="text-align:center; vertical-align:middle" %)(((
752 Parameter recognition waiting time
753 )))|(% style="text-align:center; vertical-align:middle" %)(((
754 Shutdown setting
755 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1000|(% style="text-align:center; vertical-align:middle" %)300 to 10000|(% style="text-align:center; vertical-align:middle" %)Self-tuning|(% style="text-align:center; vertical-align:middle" %)ms
756 |(% colspan="8" %)During offline inertia recognition, the time interval between two consecutive speed instructions
757
758 = **Group P04 Vibration suppression** =
759
760 (% class="table-bordered" %)
761 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-01**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
762 |(% style="text-align:center; vertical-align:middle" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle" %)(((
763 Shutdown setting
764 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
765 |(% colspan="8" %)(((
766 (% class="table-bordered" %)
767 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Filtering method**
768 |(% style="text-align:center; vertical-align:middle" %)0|First-order low-pass filter
769 |(% style="text-align:center; vertical-align:middle" %)1|Average filtering
770 )))
771
772 (% class="table-bordered" %)
773 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-02**|(% style="text-align:center; vertical-align:middle; width:422px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:176px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
774 |(% style="text-align:center; vertical-align:middle; width:422px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
775 Shutdown setting
776 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1000|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)ms
777 |(% colspan="8" %)Used to set position instructions first-order low-pass filtering time constant.(((
778 (% class="table-bordered" %)
779 |(% style="text-align:center; vertical-align:middle" %)The position instructions is rectangular waves|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608160631-5.png]]
780 |(% style="text-align:center; vertical-align:middle" %)The position instruction is trapezoidal wave|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608160833-6.png]]
781 )))
782
783 (% class="table-bordered" %)
784 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-03**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
785 |(% style="text-align:center; vertical-align:middle" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
786 Shutdown setting
787 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 128|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)ms
788 |(% colspan="8" %)Used to set average filtering time constant.(((
789 (% class="table-bordered" %)
790 |(% style="text-align:center; vertical-align:middle" %)The position instructions is rectangular waves|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608155753-2.png]]
791 |(% style="text-align:center; vertical-align:middle" %)The position instruction is trapezoidal wave|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608160104-3.png]]
792 )))
793
794 (% class="table-bordered" %)
795 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-04**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
796 |(% style="text-align:center; vertical-align:middle" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)10 to 2500|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.01ms
797 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HTorqueinstructionfiltering]]__
798
799 (% class="table-bordered" %)
800 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-05**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
801 |(% style="text-align:center; vertical-align:middle" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
802 Operation setting
803 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)300|(% style="text-align:center; vertical-align:middle" %)250 to 5000|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Hz
804 |(% colspan="8" %)(((
805 Set the center frequency of the 1st notch filter.
806
807 When the function code is set to 5000, the function of the notch filter is invalid.
808 )))
809
810 (% class="table-bordered" %)
811 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-06**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
812 |(% style="text-align:center; vertical-align:middle" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
813 Operation setting
814 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to100|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)-
815 |(% colspan="8" %)(((
816 Set the notch filter depth grade (the ratio between input and output at the center frequency of the notch filter)
817
818 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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/07%20Adjustments/#HNotchfilter]]__
819 )))
820
821 (% class="table-bordered" %)
822 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-07**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
823 |(% style="text-align:center; vertical-align:middle" %)1st notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
824 Operation setting
825 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)0 to 12|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)-
826 |(% colspan="8" %)Set the notch filter width grade (the ratio between input and output at the center frequency of the notch filter)
827
828 (% class="table-bordered" %)
829 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-08**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
830 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
831 Operation setting
832 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)500|(% style="text-align:center; vertical-align:middle" %)250 to 5000|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Hz
833 |(% colspan="8" %)(((
834 Set the center frequency of the 1st notch filter.
835
836 When the function code is set to 5000, the function of the notch filter is invalid.
837 )))
838
839 (% class="table-bordered" %)
840 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-09**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
841 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
842 Operation setting
843 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 100|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)-
844
845 (% class="table-bordered" %)
846 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P04-10**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
847 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
848 Operation setting
849 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)0 to 12|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)-
850
851 = **Group P05 Signal input and output** =
852
853 (% class="table-bordered" %)
854 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-01☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
855 |(% style="text-align:center; vertical-align:middle" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)mV
856 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
857 Set AI_1 channel analog bias value
858
859 [[image:image-20220608160946-7.png]]
860
861 “☆” indicates that the VD2F servo drive does not support this function code.
862 )))
863
864 (% class="table-bordered" %)
865 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-02☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
866 |(% style="text-align:center; vertical-align:middle" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)200|(% style="text-align:center; vertical-align:middle" %)0 to 60000|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)0.01ms
867 |(% colspan="8" %)(((
868 Set AI_1 channel input first-order low-pass filter time constant
869
870 “☆” indicates that the VD2F servo drive does not support this function code.
871 )))
872
873 (% class="table-bordered" %)
874 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-03☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
875 |(% style="text-align:center; vertical-align:middle" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)0 to 1000|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)mV
876 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
877 Set AI_1 channel analog quantity dead zone value. “Dead zone” is the input voltage interval when the sample voltage is 0.
878
879 [[image:image-20220608161112-8.png]]
880
881 “☆” indicates that the VD2F servo drive does not support this function code.
882 )))
883
884 (% class="table-bordered" %)
885 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-04☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
886 |(% style="text-align:center; vertical-align:middle" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)-500 to 500|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)mV
887 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
888 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.
889
890 [[image:image-20220608161203-9.png]]
891
892 “☆” indicates that the VD2F servo drive does not support this function code.
893 )))
894
895 (% class="table-bordered" %)
896 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-05☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
897 |(% style="text-align:center; vertical-align:middle" %)AI_2 input bias|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)mV
898 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
899
900 (% class="table-bordered" %)
901 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-06☆**|(% style="text-align:center; vertical-align:middle; width:254px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
902 |(% style="text-align:center; vertical-align:middle; width:254px" %)AI_2 input filter time constant|(% style="text-align:center; vertical-align:middle; width:205px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)200|(% style="text-align:center; vertical-align:middle" %)0 to 60000|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)0.01ms
903 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
904
905 (% class="table-bordered" %)
906 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-07☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
907 |(% style="text-align:center; vertical-align:middle" %)AI_2 dead zone|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)0 to 500|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)mV
908 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
909
910 (% class="table-bordered" %)
911 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-08☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
912 |(% style="text-align:center; vertical-align:middle" %)AI_2 zero drift|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)-500 to 500|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)mV
913 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
914
915 (% class="table-bordered" %)
916 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-09☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
917 |(% style="text-align:center; vertical-align:middle" %)Analog 10V corresponds to the speed value|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)3000|(% style="text-align:center; vertical-align:middle" %)1000 to 4500|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)rpm
918 |(% colspan="8" %)(((
919 Set the speed value corresponding to the analog 10V
920
921 (% class="table-bordered" %)
922 |(% style="text-align:center; vertical-align:middle" %)**Mode**|(% style="text-align:center; vertical-align:middle" %)**Function code value**|(% style="text-align:center; vertical-align:middle" %)**Sampling voltage and speed diagram**
923 |(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)P01-01=1|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161505-10.png]]
924
925 Given speed = sampling voltage / 10 * (P05-09)
926
927 “☆” indicates that the VD2F servo drive does not support this function code.
928 )))
929
930 (% class="table-bordered" %)
931 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-10☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
932 |(% style="text-align:center; vertical-align:middle" %)Analog 10V corresponds to the torque value|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1000|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)Analog input|(% style="text-align:center; vertical-align:middle" %)0.1%
933 |(% colspan="8" %)(((
934 Set the torque value corresponding to the analog 10V
935
936 (% class="table-bordered" %)
937 |(% style="text-align:center; vertical-align:middle" %)**Mode**|(% style="text-align:center; vertical-align:middle" %)**Function code value**|(% style="text-align:center; vertical-align:middle" %)**Sampling voltage and speed diagram**
938 |(% style="text-align:center; vertical-align:middle" %)Torque mode|(% style="text-align:center; vertical-align:middle" %)P01-07=1|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161825-11.png]]
939
940 Given torque= sampling voltage / 10 * (P05-09)
941
942 “☆” indicates that the VD2F servo drive does not support this function code.
943 )))
944
945 (% class="table-bordered" %)
946 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-11**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
947 |(% style="text-align:center; vertical-align:middle" %)Positioning completion, positioning approach condition setting|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
948 |(% colspan="8" %)(((
949 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.
950
951 (% class="table-bordered" %)
952 |(% style="text-align:center; vertical-align:middle; width:88px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:1095px" %)**Output condition**
953 |(% style="text-align:center; vertical-align:middle; width:88px" %)0|(% style="width:1095px" %)It is valid when the absolute value of the position deviation is smaller than or close to the threshold
954 |(% style="text-align:center; vertical-align:middle; width:88px" %)1|(% style="width:1095px" %)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
955 |(% style="text-align:center; vertical-align:middle; width:88px" %)2|(% style="width:1095px" %)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
956 |(% style="text-align:center; vertical-align:middle; width:88px" %)3|(% style="width:1095px" %)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
957
958 Given torque= sampling voltage / 10 * (P05-09)
959
960 “☆” indicates that the VD2F servo drive does not support this function code.
961 )))
962
963 (% class="table-bordered" %)
964 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-12**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
965 |(% style="text-align:center; vertical-align:middle" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
966 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning completion signal
967
968 (% class="table-bordered" %)
969 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-13**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
970 |(% style="text-align:center; vertical-align:middle" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)5000|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
971 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning approach signal
972
973 (% class="table-bordered" %)
974 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P05-14**|(% style="text-align:center; vertical-align:middle; width:244px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:179px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
975 |(% style="text-align:center; vertical-align:middle; width:244px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:179px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:222px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle" %)0 to 20000|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)ms
976 |(% colspan="8" %)Set the detection window time for positioning completion
977
978 (% class="table-bordered" %)
979 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-15**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
980 |(% style="text-align:center; vertical-align:middle" %)Positioning signal holding time|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 20000|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)ms
981 |(% colspan="8" %)Set the time for the signal to remain in effect after positioning when P05-11=3 (Positioning completion and positioning approach condition setting)
982
983 (% class="table-bordered" %)
984 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-16**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
985 |(% style="text-align:center; vertical-align:middle" %)Rotation detection speed threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)0 to 1000|(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)rpm
986 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeed-relatedDOoutputfunction]]__
987
988 (% class="table-bordered" %)
989 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-17**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
990 |(% style="text-align:center; vertical-align:middle" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)0 to 100|(% style="text-align:center; vertical-align:middle" %)Speed mode|rpm
991 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeed-relatedDOoutputfunction]]__
992
993 (% class="table-bordered" %)
994 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P05-18**|(% style="text-align:center; vertical-align:middle; width:316px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
995 |(% style="text-align:center; vertical-align:middle; width:316px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)10 to 6000|(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)rpm
996 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeed-relatedDOoutputfunction]]__
997
998 (% class="table-bordered" %)
999 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-19**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1000 |(% style="text-align:center; vertical-align:middle" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)0 to 6000|(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)rpm
1001 |(% colspan="8" %)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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeed-relatedDOoutputfunction]]__
1002
1003 (% class="table-bordered" %)
1004 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-20**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1005 |(% style="text-align:center; vertical-align:middle" %)Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 300|(% style="text-align:center; vertical-align:middle" %)Torque mode|(% style="text-align:center; vertical-align:middle" %)%
1006 |(% colspan="8" %)Please refer to __[[6.4.5 Torque-related DO output functions>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeed-relatedDOoutputfunction]]__
1007
1008 (% class="table-bordered" %)
1009 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-21**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1010 |(% style="text-align:center; vertical-align:middle" %)Torque arrival hysteresis value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)0 to 20|(% style="text-align:center; vertical-align:middle" %)Torque mode|(% style="text-align:center; vertical-align:middle" %)%
1011 |(% colspan="8" %)Please refer to __[[6.4.5 Torque-related DO output functions>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeed-relatedDOoutputfunction]]__
1012
1013 = **Group P06 DI/DO configuration** =
1014
1015 (% class="table-bordered" %)
1016 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-02**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1017 |(% style="text-align:center; vertical-align:middle" %)DI_1 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power on again|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1018 |(% colspan="8" %)(((
1019 Set DI functions corresponding to hardware DI_1. The related functions are as below.
1020
1021 (% class="table-bordered" %)
1022 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**DI channel function**|(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**DI channel function**
1023 |(% style="text-align:center; vertical-align:middle" %)0|Off (not used)|(% style="text-align:center; vertical-align:middle" %)13|INSPD1 (Internal speed instruction selection 1)
1024 |(% style="text-align:center; vertical-align:middle" %)1|S-ON (Servo enable)|(% style="text-align:center; vertical-align:middle" %)14|INSPD2 (Internal speed instruction selection 2)
1025 |(% style="text-align:center; vertical-align:middle" %)2|A-CLR (Fault and warning clear)|(% style="text-align:center; vertical-align:middle" %)15|INSPD3 (Internal speed instruction selection 3)
1026 |(% style="text-align:center; vertical-align:middle" %)3|POT (Forward drive prohibition)|(% style="text-align:center; vertical-align:middle" %)16|J-SEL Inertia ratio switch (not implemented yet)
1027 |(% style="text-align:center; vertical-align:middle" %)4|NOT (Reverse drive prohibition)|(% style="text-align:center; vertical-align:middle" %)17|MixModeSel Mix mode selection
1028 |(% style="text-align:center; vertical-align:middle" %)5|ZCLAMP (Zero-speed clamp)|(% style="text-align:center; vertical-align:middle" %)18|None
1029 |(% style="text-align:center; vertical-align:middle" %)6|CL (Clear deviation counter)|(% style="text-align:center; vertical-align:middle" %)19|None
1030 |(% style="text-align:center; vertical-align:middle" %)7|C-SIGN (instruction is reversed)|(% style="text-align:center; vertical-align:middle" %)20|ENINPOS (Internal multi-segment enable signal)
1031 |(% style="text-align:center; vertical-align:middle" %)8|E-STOP (Emergency stop)|(% style="text-align:center; vertical-align:middle" %)21|(((
1032 INPOS1
1033
1034 (Internal multi-segment position selection 1)
1035 )))
1036 |(% style="text-align:center; vertical-align:middle" %)9|GEAR-SEL (Electronic Gear Switch 1)|(% style="text-align:center; vertical-align:middle" %)22|(((
1037 INPOS2
1038
1039 (Internal multi-segment position selection 2)
1040 )))
1041 |(% style="text-align:center; vertical-align:middle" %)10|GAIN-SEL (Gain switch)|(% style="text-align:center; vertical-align:middle" %)23|(((
1042 INPOS3
1043
1044 (Internal multi-segment position selection 3)
1045 )))
1046 |(% style="text-align:center; vertical-align:middle" %)11|INH (Instruction pulse prohibited input)|(% style="text-align:center; vertical-align:middle" %)24|(((
1047 INPOS4
1048
1049 (Internal multi-segment position selection 4)
1050 )))
1051 |(% style="text-align:center; vertical-align:middle" %)12|VSSEL (Vibration control switching input)|(% style="text-align:center; vertical-align:middle" %)-|-
1052
1053 If P06-02 is set to a value other than that in the preceding table, the DI port function is not require
1054
1055 The same DI channel function could not be allocated to multiple DI ports, otherwise servo drive will occur A-89 (DI port configuration duplication)
1056 )))
1057
1058 (% class="table-bordered" %)
1059 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-03**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1060 |(% style="text-align:center; vertical-align:middle" %)DI_1 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1061 |(% colspan="8" %)DI port input logic validity function selection(((
1062 (% class="table-bordered" %)
1063 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**|(% style="text-align:center; vertical-align:middle" %)**Illustration**
1064 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)(((
1065 Normally open input.
1066
1067 Active low level (switch on)
1068 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161925-12.png]]
1069 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)(((
1070 Normally closed input.
1071
1072 Active high level (switch off)
1073 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608162007-13.png]]
1074 )))
1075
1076 (% class="table-bordered" %)
1077 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-04**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1078 |(% style="text-align:center; vertical-align:middle" %)DI_1 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1079 |(% colspan="8" %)Select the enabled DI_1 port type(((
1080 (% class="table-bordered" %)
1081 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1082 |(% style="text-align:center; vertical-align:middle" %)0|Hardware DI_1 input terminal
1083 |(% style="text-align:center; vertical-align:middle" %)1|Virtual VDI_1 input terminal
1084 )))
1085
1086 (% class="table-bordered" %)
1087 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P06-05**|(% style="text-align:center; vertical-align:middle; width:281px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:198px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:227px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1088 |(% style="text-align:center; vertical-align:middle; width:281px" %)DI_2 channel function selection|(% style="text-align:center; vertical-align:middle; width:198px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:227px" %)Power on again|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1089
1090 (% class="table-bordered" %)
1091 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-06**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1092 |(% style="text-align:center; vertical-align:middle" %)DI_2 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1093
1094 (% class="table-bordered" %)
1095 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:94px" %)**P06-07**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1096 |(% style="text-align:center; vertical-align:middle; width:253px" %)DI_2 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1097
1098 (% class="table-bordered" %)
1099 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:91px" %)**P06-08**|(% style="text-align:center; vertical-align:middle; width:268px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:203px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:228px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1100 |(% style="text-align:center; vertical-align:middle; width:268px" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle; width:203px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:228px" %)Power on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1101
1102 (% class="table-bordered" %)
1103 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:92px" %)**P06-09**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1104 |(% style="text-align:center; vertical-align:middle; width:260px" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1105
1106 (% class="table-bordered" %)
1107 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:96px" %)**P06-10**|(% style="text-align:center; vertical-align:middle; width:251px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1108 |(% style="text-align:center; vertical-align:middle; width:251px" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1109
1110 (% class="table-bordered" %)
1111 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:94px" %)**P06-11**|(% style="text-align:center; vertical-align:middle; width:262px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:231px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1112 |(% style="text-align:center; vertical-align:middle; width:262px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:202px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:231px" %)Power on again|(% style="text-align:center; vertical-align:middle; width:95px" %)4|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1113
1114 (% class="table-bordered" %)
1115 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:98px" %)**P06-12**|(% style="text-align:center; vertical-align:middle; width:254px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1116 |(% style="text-align:center; vertical-align:middle; width:254px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1117
1118 (% class="table-bordered" %)
1119 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:100px" %)**P06-13**|(% style="text-align:center; vertical-align:middle; width:247px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1120 |(% style="text-align:center; vertical-align:middle; width:247px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1121
1122 (% class="table-bordered" %)
1123 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:100px" %)**P06-14☆**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:207px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:241px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:93px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1124 |(% style="text-align:center; vertical-align:middle; width:253px" %)DI_5 channel function selection|(% style="text-align:center; vertical-align:middle; width:207px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:241px" %)Power on again|(% style="text-align:center; vertical-align:middle; width:93px" %)7|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1125
1126 “☆” indicates that the VD2F servo drive does not support this function code.
1127
1128 (% class="table-bordered" %)
1129 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:102px" %)**P06-15☆**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:216px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1130 |(% style="text-align:center; vertical-align:middle; width:260px" %)DI_5 channel logic selection|(% style="text-align:center; vertical-align:middle; width:216px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1131
1132 “☆” indicates that the VD2F servo drive does not support this function code.
1133
1134 (% class="table-bordered" %)
1135 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-16☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1136 |(% style="text-align:center; vertical-align:middle" %)DI_5 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1137
1138 “☆” indicates that the VD2F servo drive does not support this function code.
1139
1140 (% class="table-bordered" %)
1141 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:103px" %)**P06-17☆**|(% style="text-align:center; vertical-align:middle; width:256px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:201px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:230px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1142 |(% style="text-align:center; vertical-align:middle; width:256px" %)DI_6 channel function selection|(% style="text-align:center; vertical-align:middle; width:201px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:230px" %)Power on again|(% style="text-align:center; vertical-align:middle; width:94px" %)11|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1143
1144 “☆” indicates that the VD2F servo drive does not support this function code.
1145
1146 (% class="table-bordered" %)
1147 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-18☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1148 |(% style="text-align:center; vertical-align:middle" %)DI_6 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1149
1150 “☆” indicates that the VD2F servo drive does not support this function code.
1151
1152 (% class="table-bordered" %)
1153 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-19☆**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1154 |(% style="text-align:center; vertical-align:middle" %)DI_6 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1155
1156 “☆” indicates that the VD2F servo drive does not support this function code.
1157
1158 (% class="table-bordered" %)
1159 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:109px" %)**P06-20☆**|(% style="text-align:center; vertical-align:middle; width:294px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:226px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:98px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1160 |(% style="text-align:center; vertical-align:middle; width:294px" %)DI_7 channel function selection|(% style="text-align:center; vertical-align:middle; width:193px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power on again|(% style="text-align:center; vertical-align:middle; width:98px" %)2|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1161
1162 “☆” indicates that the VD2F servo drive does not support this function code.
1163
1164 (% class="table-bordered" %)
1165 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)**P06-21☆**|(% style="text-align:center; vertical-align:middle; width:289px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:199px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:223px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1166 |(% style="text-align:center; vertical-align:middle; width:289px" %)DI_7 channel logic selection|(% style="text-align:center; vertical-align:middle; width:199px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:223px" %)Power on again|(% style="text-align:center; vertical-align:middle; width:94px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1167
1168 “☆” indicates that the VD2F servo drive does not support this function code.
1169
1170 (% class="table-bordered" %)
1171 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:108px" %)**P06-22☆**|(% style="text-align:center; vertical-align:middle; width:233px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:227px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1172 |(% style="text-align:center; vertical-align:middle; width:233px" %)DI_7 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:227px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:105px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1173
1174 “☆” indicates that the VD2F servo drive does not support this function code.
1175
1176 (% class="table-bordered" %)
1177 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)**P06-23☆**|(% style="text-align:center; vertical-align:middle; width:265px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:195px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1178 |(% style="text-align:center; vertical-align:middle; width:265px" %)DI_8 channel function selection|(% style="text-align:center; vertical-align:middle; width:195px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:220px" %)Power on again|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)0 to 32|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1179
1180 “☆” indicates that the VD2F servo drive does not support this function code.
1181
1182 (% class="table-bordered" %)
1183 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)**P06-24☆**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:230px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:90px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1184 |(% style="text-align:center; vertical-align:middle; width:263px" %)DI_8 channel logic selection|(% style="text-align:center; vertical-align:middle; width:188px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:230px" %)Power on again|(% style="text-align:center; vertical-align:middle; width:90px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1185
1186 “☆” indicates that the VD2F servo drive does not support this function code.
1187
1188 (% class="table-bordered" %)
1189 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:108px" %)**P06-25☆**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:146px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:221px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1190 |(% style="text-align:center; vertical-align:middle; width:250px" %)DI_8 input source selection|(% style="text-align:center; vertical-align:middle; width:146px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:221px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1191
1192 “☆” indicates that the VD2F servo drive does not support this function code.
1193
1194 (% class="table-bordered" %)
1195 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:109px" %)**P06-26**|(% style="text-align:center; vertical-align:middle; width:251px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:198px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1196 |(% style="text-align:center; vertical-align:middle; width:251px" %)DO_1 channel function selection|(% style="text-align:center; vertical-align:middle; width:205px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:198px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle" %)128 to 142|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1197 |(% colspan="8" %)(((
1198 Set DO functions corresponding to hardware DO_1. The related functions are as below.
1199
1200 (% class="table-bordered" %)
1201 |(% style="text-align:center; vertical-align:middle" %)Set value|(% style="text-align:center; vertical-align:middle" %)DO channel function|(% style="text-align:center; vertical-align:middle" %)Set value|(% style="text-align:center; vertical-align:middle" %)DO channel function
1202 |(% style="text-align:center; vertical-align:middle" %)128|(% style="text-align:center; vertical-align:middle" %)Close (not used)|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle" %)T-LIMIT (Torque limit)
1203 |(% style="text-align:center; vertical-align:middle" %)129|(% style="text-align:center; vertical-align:middle" %)RDY (Servo ready)|(% style="text-align:center; vertical-align:middle" %)140|(% style="text-align:center; vertical-align:middle" %)V-LIMIT (speed limited)
1204 |(% style="text-align:center; vertical-align:middle" %)130|(% style="text-align:center; vertical-align:middle" %)ALM (fault signal)|(% style="text-align:center; vertical-align:middle" %)141|(% style="text-align:center; vertical-align:middle" %)BRK-OFF (brake output)**✎**
1205 |(% style="text-align:center; vertical-align:middle" %)131|(% style="text-align:center; vertical-align:middle" %)WARN (warning signal)|(% style="text-align:center; vertical-align:middle" %)142|(% style="text-align:center; vertical-align:middle" %)SRV-ST (Servo on state output)
1206 |(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle" %)TGON (rotation detection)|(% style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle" %)OZ (Z pulse output)
1207 |(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)ZSP (zero speed signal)|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)None
1208 |(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN (positioning completed)|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 (communication VDO1 output)
1209 |(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)P-NEAR (positioning approach)|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 (communication VDO2 output)
1210 |(% style="text-align:center; vertical-align:middle" %)136|(% style="text-align:center; vertical-align:middle" %)V-COIN (consistent speed)|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 (communication VDO3 output)
1211 |(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle" %)V-NEAR (speed approach)|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 (communication VDO4 output)
1212 |(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle" %)T-COIN (torque arrival)|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)
1213
1214 If P06-26 is set to a value other than that in the preceding table, the DO port function is not required
1215
1216 The same DO channel function could not be allocated to multiple DO ports, otherwise servo drive will occur A-90 (DO port configuration duplication)
1217
1218 “✎” means use the function code BRK-OFF would be effective after power on again.
1219
1220 ✎**Note:** Only VD2F supports 143: OZ (Z pulse output). The function of VD2-0SA1G is empty.
1221 )))
1222
1223 (% class="table-bordered" %)
1224 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-27**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1225 |(% style="text-align:center; vertical-align:middle" %)DO_1 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1226 |(% colspan="8" %)DO Port input logic validity function selection.(((
1227 (% class="table-bordered" %)
1228 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1229 |(% style="text-align:center; vertical-align:middle" %)0|Output transistor is on when the output is valid, and output transistor is off when the output is invalid.
1230 |(% style="text-align:center; vertical-align:middle" %)1|Output transistor is off when the output is valid, and output transistor is on when the output is invalid.
1231 )))
1232
1233 (% class="table-bordered" %)
1234 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-28**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1235 |(% style="text-align:center; vertical-align:middle" %)DO_2 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)130|(% style="text-align:center; vertical-align:middle" %)128 to 142|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1236
1237 (% class="table-bordered" %)
1238 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:89px" %)**P06-29**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:218px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:107px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1239 |(% style="text-align:center; vertical-align:middle; width:321px" %)DO_2 channel logic selection|(% style="text-align:center; vertical-align:middle; width:183px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:218px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:96px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:107px" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1240
1241 (% class="table-bordered" %)
1242 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-30**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1243 |(% style="text-align:center; vertical-align:middle" %)DO_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)129|(% style="text-align:center; vertical-align:middle" %)128 to 142|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1244
1245 (% class="table-bordered" %)
1246 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:87px" %)**P06-31**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:185px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:219px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1247 |(% style="text-align:center; vertical-align:middle; width:321px" %)DO_3 channel logic selection|(% style="text-align:center; vertical-align:middle; width:185px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:96px" %)0|(% style="text-align:center; vertical-align:middle; width:119px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:105px" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1248
1249 (% class="table-bordered" %)
1250 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P06-32**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1251 |(% style="text-align:center; vertical-align:middle" %)DO_4 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)128 to 142|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1252
1253 (% class="table-bordered" %)
1254 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)**P06-33**|(% style="text-align:center; vertical-align:middle; width:320px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:187px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:116px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:109px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1255 |(% style="text-align:center; vertical-align:middle; width:320px" %)DO_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:187px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:220px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:94px" %)0|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:109px" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1256
1257 = **Group P07 multi-segment position** =
1258
1259 (% class="table-bordered" %)
1260 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-01**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1261 |(% style="text-align:center; vertical-align:middle" %)Multi-segment position operation mode|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1262 |(% colspan="8" %)(((
1263 When servo is in position mode, and P01-06 (position instruction source) =1, set the operation mode of multi-segment position
1264
1265 (% class="table-bordered" %)
1266 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Operation mode**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
1267 |(% style="text-align:center; vertical-align:middle" %)0|Single running|Stop after running one round. The segment number automatic increment switching.
1268 |(% style="text-align:center; vertical-align:middle" %)1|Cycle running|Cycle running. The segment number automatic increment switching.
1269 |(% style="text-align:center; vertical-align:middle" %)2|DI switching running|Segment number updates can continue to run. The segment numbers are determined by the DI terminal logic
1270
1271 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>>||anchor="HGroupP06DI2FDOconfiguration"]]__
1272 )))
1273
1274 (% class="table-bordered" %)
1275 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-02**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1276 |(% style="text-align:center; vertical-align:middle" %)(((
1277 Starting position number
1278 )))|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1279 |(% colspan="8" %)(((
1280 Set the starting segment number in single running or cycle running.
1281
1282 When P07-01≠2, the segment number automatic increment switching.
1283
1284 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.
1285
1286 If DI terminal logic is valid, the value of internal multi-segment position segment selection is 1, otherwise it is 0.
1287
1288 (% class="table-bordered" %)
1289 |(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Operation segment number**
1290 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1
1291 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2
1292 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3
1293 |(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
1294 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)16
1295 )))
1296
1297 (% class="table-bordered" %)
1298 |(% rowspan="2" %)**P07-03**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
1299 |(((
1300 End position number
1301 )))|Shutdown setting|Effective immediately|1|1 to 16|-|-
1302 |(% colspan="8" %)(((
1303 Set the end segment number in single running or cycle running.
1304
1305 When P07-01≠2, the segment number automatic increment switching. The switching sequence is: P07-02, ……, P07-03.
1306 )))
1307
1308 (% class="table-bordered" %)
1309 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-04**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1310 |(% style="text-align:center; vertical-align:middle" %)(((
1311 Margin handling method
1312 )))|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1313 |(% colspan="8" %)(((
1314 The starting segment number used for the servo drive will run when it resumes after pausing in multi-segment.
1315
1316 “Pause” indicates that internal multi-segment position enable signal changes from valid to invalid.
1317
1318 (% class="table-bordered" %)
1319 |(% style="text-align:center; vertical-align:middle; width:95px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:285px" %)**Margin handling method**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Remarks**
1320 |(% style="text-align:center; vertical-align:middle; width:95px" %)0|(% style="width:285px" %)Run the remaining positions|(% style="width:803px" %)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.
1321 |(% style="text-align:center; vertical-align:middle; width:95px" %)1|(% style="width:285px" %)Run again from the starting position|(% style="width:803px" %)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
1322
1323 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__
1324 )))
1325
1326 (% class="table-bordered" %)
1327 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-05**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1328 |(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1329 |(% colspan="8" %)Set the displacement instruction type of multi-segment position function. “Displacement instruction” is the sum of the displacement instructions over a period of time.(((
1330 (% class="table-bordered" %)
1331 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Instruction type**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
1332 |(% style="text-align:center; vertical-align:middle" %)0|Relative position instruction|Relative displacement is the increment of the position of the target relative to the current position of motor.
1333 |(% style="text-align:center; vertical-align:middle" %)1|Absolute position instruction|Absolute displacement is the increment of the position of the target relative to the origin of motor
1334 )))
1335
1336 (% class="table-bordered" %)
1337 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-06**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1338 |(% style="text-align:center; vertical-align:middle" %)(((
1339 Waiting time unit
1340 )))|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1341 |(% colspan="8" %)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.(((
1342 (% class="table-bordered" %)
1343 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Waiting time unit**
1344 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)ms
1345 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)s
1346 )))
1347
1348 (% class="table-bordered" %)
1349 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-09**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1350 |(% style="text-align:center; vertical-align:middle" %)The 1st segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1351 |(% colspan="8" %)Set the 1st segment position displacement
1352
1353 (% class="table-bordered" %)
1354 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-10**|(% style="text-align:center; vertical-align:middle; width:358px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:218px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1355 |(% style="text-align:center; vertical-align:middle; width:358px" %)Maximum speed of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:209px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:218px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1356 |(% colspan="8" %)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.
1357
1358 (% class="table-bordered" %)
1359 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-11**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1360 |(% style="text-align:center; vertical-align:middle" %)Acceleration and deceleration time of the 1st segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1361 |(% colspan="8" %)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.
1362
1363 (% class="table-bordered" %)
1364 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-12**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1365 |(% style="text-align:center; vertical-align:middle" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1366 |(% colspan="8" %)Used to set the waiting time before running the next segment displacement after the multi-segment position of the 1st displacement is completed
1367
1368 (% class="table-bordered" %)
1369 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-13**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1370 |(% style="text-align:center; vertical-align:middle" %)(((
1371 The 2nd segment displacement
1372 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1373
1374 (% class="table-bordered" %)
1375 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-14**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1376 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 2nd segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1377
1378 (% class="table-bordered" %)
1379 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P07-15**|(% style="text-align:center; vertical-align:middle; width:501px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1380 |(% style="text-align:center; vertical-align:middle; width:501px" %)Acceleration and deceleration time of the 2nd segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1381
1382 (% class="table-bordered" %)
1383 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:76px" %)**P07-16**|(% style="text-align:center; vertical-align:middle; width:455px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1384 |(% style="text-align:center; vertical-align:middle; width:455px" %)Waiting time after completion of the 2nd segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1385
1386 (% class="table-bordered" %)
1387 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-17**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1388 |(% style="text-align:center; vertical-align:middle" %)(((
1389 The 3rd segment displacement
1390 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1391
1392 (% class="table-bordered" %)
1393 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-18**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1394 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 3rd segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1395
1396 (% class="table-bordered" %)
1397 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P07-19**|(% style="text-align:center; vertical-align:middle; width:471px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1398 |(% style="text-align:center; vertical-align:middle; width:471px" %)Acceleration and deceleration time of the 3rd segment displacement|(% style="text-align:center; vertical-align:middle; width:136px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1399
1400 (% class="table-bordered" %)
1401 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P07-20**|(% style="text-align:center; vertical-align:middle; width:435px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1402 |(% style="text-align:center; vertical-align:middle; width:435px" %)Waiting time after completion of the 3rd segment displacement|(% style="text-align:center; vertical-align:middle; width:123px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1403
1404 (% class="table-bordered" %)
1405 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-21**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1406 |(% style="text-align:center; vertical-align:middle" %)(((
1407 The 4th segment displacement
1408 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1409
1410 (% class="table-bordered" %)
1411 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-22**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1412 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 4th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1413
1414 (% class="table-bordered" %)
1415 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P07-23**|(% style="text-align:center; vertical-align:middle; width:472px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1416 |(% style="text-align:center; vertical-align:middle; width:472px" %)Acceleration and deceleration time of the 4th segment displacement|(% style="text-align:center; vertical-align:middle; width:134px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1417
1418 (% class="table-bordered" %)
1419 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P07-24**|(% style="text-align:center; vertical-align:middle; width:442px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:116px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1420 |(% style="text-align:center; vertical-align:middle; width:442px" %)Waiting time after completion of the 4th segment displacement|(% style="text-align:center; vertical-align:middle; width:116px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1421
1422 (% class="table-bordered" %)
1423 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:78px" %)**P07-25**|(% style="text-align:center; vertical-align:middle; width:229px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:139px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1424 |(% style="text-align:center; vertical-align:middle; width:229px" %)(((
1425 The 5th segment displacement
1426 )))|(% style="text-align:center; vertical-align:middle; width:139px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1427
1428 (% class="table-bordered" %)
1429 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-26**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1430 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 5th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1431
1432 (% class="table-bordered" %)
1433 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:81px" %)**P07-27**|(% style="text-align:center; vertical-align:middle; width:497px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1434 |(% style="text-align:center; vertical-align:middle; width:497px" %)Acceleration and deceleration time of the 5th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1435
1436 (% class="table-bordered" %)
1437 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P07-28**|(% style="text-align:center; vertical-align:middle; width:450px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1438 |(% style="text-align:center; vertical-align:middle; width:450px" %)Waiting time after completion of the 5th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1439
1440 (% class="table-bordered" %)
1441 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P07-29**|(% style="text-align:center; vertical-align:middle; width:241px" %)**Parameter name **|(% style="text-align:center; vertical-align:middle; width:181px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:174px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1442 |(% style="text-align:center; vertical-align:middle; width:241px" %)(((
1443 The 6th segment displacement
1444 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:174px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:92px" %)10000|(% style="text-align:center; vertical-align:middle; width:253px" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1445
1446 (% class="table-bordered" %)
1447 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:81px" %)**P07-30**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1448 |(% style="text-align:center; vertical-align:middle; width:421px" %)Maximum speed of the 6th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1449
1450 (% class="table-bordered" %)
1451 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:82px" %)**P07-31**|(% style="text-align:center; vertical-align:middle; width:491px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1452 |(% style="text-align:center; vertical-align:middle; width:491px" %)Acceleration and deceleration time of the 6th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1453
1454 (% class="table-bordered" %)
1455 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P07-32**|(% style="text-align:center; vertical-align:middle; width:439px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1456 |(% style="text-align:center; vertical-align:middle; width:439px" %)Waiting time after completion of the 6th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1457
1458 (% class="table-bordered" %)
1459 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P07-33**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:142px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1460 |(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1461 The 7th segment displacement
1462 )))|(% style="text-align:center; vertical-align:middle; width:142px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:206px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1463
1464 (% class="table-bordered" %)
1465 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:88px" %)**P07-34**|(% style="text-align:center; vertical-align:middle; width:414px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1466 |(% style="text-align:center; vertical-align:middle; width:414px" %)Maximum speed of the 7th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1467
1468 (% class="table-bordered" %)
1469 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:87px" %)**P07-35**|(% style="text-align:center; vertical-align:middle; width:486px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1470 |(% style="text-align:center; vertical-align:middle; width:486px" %)Acceleration and deceleration time of the 7th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1471
1472 (% class="table-bordered" %)
1473 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)**P07-36**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1474 |(% style="text-align:center; vertical-align:middle; width:438px" %)Waiting time after completion of the 7th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1475
1476 (% class="table-bordered" %)
1477 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P07-37**|(% style="text-align:center; vertical-align:middle; width:170px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:191px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:195px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:214px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1478 |(% style="text-align:center; vertical-align:middle; width:170px" %)(((
1479 The 8th segment displacement
1480 )))|(% style="text-align:center; vertical-align:middle; width:191px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:114px" %)10000|(% style="text-align:center; vertical-align:middle; width:214px" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1481
1482 (% class="table-bordered" %)
1483 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:87px" %)**P07-38**|(% style="text-align:center; vertical-align:middle; width:415px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1484 |(% style="text-align:center; vertical-align:middle; width:415px" %)Maximum speed of the 8th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1485
1486 (% class="table-bordered" %)
1487 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)**P07-39**|(% style="text-align:center; vertical-align:middle; width:487px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1488 |(% style="text-align:center; vertical-align:middle; width:487px" %)Acceleration and deceleration time of the 8th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1489
1490 (% class="table-bordered" %)
1491 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:88px" %)**P07-40**|(% style="text-align:center; vertical-align:middle; width:436px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1492 |(% style="text-align:center; vertical-align:middle; width:436px" %)Waiting time after completion of the 8th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1493
1494 (% class="table-bordered" %)
1495 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:88px" %)**P07-41**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1496 |(% style="text-align:center; vertical-align:middle; width:259px" %)(((
1497 The 9th segment displacement
1498 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1499
1500 (% class="table-bordered" %)
1501 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P07-42**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1502 |(% style="text-align:center; vertical-align:middle; width:417px" %)Maximum speed of the 9th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1503
1504 (% class="table-bordered" %)
1505 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)**P07-43**|(% style="text-align:center; vertical-align:middle; width:487px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1506 |(% style="text-align:center; vertical-align:middle; width:487px" %)Acceleration and deceleration time of the 9th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1507
1508 (% class="table-bordered" %)
1509 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)**P07-44**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1510 |(% style="text-align:center; vertical-align:middle; width:438px" %)Waiting time after completion of the 9th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1511
1512 (% class="table-bordered" %)
1513 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:85px" %)**P07-45**|(% style="text-align:center; vertical-align:middle; width:265px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1514 |(% style="text-align:center; vertical-align:middle; width:265px" %)(((
1515 The 10th segment displacement
1516 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1517
1518 (% class="table-bordered" %)
1519 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P07-46**|(% style="text-align:center; vertical-align:middle; width:419px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1520 |(% style="text-align:center; vertical-align:middle; width:419px" %)Maximum speed of the 10th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1521
1522 (% class="table-bordered" %)
1523 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P07-47**|(% style="text-align:center; vertical-align:middle; width:489px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1524 |(% style="text-align:center; vertical-align:middle; width:489px" %)Acceleration and deceleration time of the 10th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1525
1526 (% class="table-bordered" %)
1527 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P07-48**|(% style="text-align:center; vertical-align:middle; width:440px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1528 |(% style="text-align:center; vertical-align:middle; width:440px" %)Waiting time after completion of the 10th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1529
1530 (% class="table-bordered" %)
1531 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:82px" %)**P07-49**|(% style="text-align:center; vertical-align:middle; width:233px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:163px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:172px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1532 |(% style="text-align:center; vertical-align:middle; width:233px" %)(((
1533 The 11th segment displacement
1534 )))|(% style="text-align:center; vertical-align:middle; width:163px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:172px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1535
1536 (% class="table-bordered" %)
1537 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:82px" %)**P07-50**|(% style="text-align:center; vertical-align:middle; width:396px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1538 |(% style="text-align:center; vertical-align:middle; width:396px" %)Maximum speed of the 11th segment displacement|(% style="text-align:center; vertical-align:middle; width:184px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1539
1540 (% class="table-bordered" %)
1541 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P07-51**|(% style="text-align:center; vertical-align:middle; width:492px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1542 |(% style="text-align:center; vertical-align:middle; width:492px" %)Acceleration and deceleration time of the 11th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1543
1544 (% class="table-bordered" %)
1545 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:80px" %)**P07-52**|(% style="text-align:center; vertical-align:middle; width:443px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1546 |(% style="text-align:center; vertical-align:middle; width:443px" %)Waiting time after completion of the 11th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1547
1548 (% class="table-bordered" %)
1549 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-53**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1550 |(% style="text-align:center; vertical-align:middle" %)(((
1551 The 12th segment displacement
1552 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1553
1554 (% class="table-bordered" %)
1555 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-54**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1556 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 12th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1557
1558 (% class="table-bordered" %)
1559 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:75px" %)**P07-55**|(% style="text-align:center; vertical-align:middle; width:497px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1560 |(% style="text-align:center; vertical-align:middle; width:497px" %)Acceleration and deceleration time of the 12th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1561
1562 (% class="table-bordered" %)
1563 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P07-56**|(% style="text-align:center; vertical-align:middle; width:446px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1564 |(% style="text-align:center; vertical-align:middle; width:446px" %)Waiting time after completion of the 12th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1565
1566 (% class="table-bordered" %)
1567 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P07-57**|(% style="text-align:center; vertical-align:middle; width:252px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1568 |(% style="text-align:center; vertical-align:middle; width:252px" %)(((
1569 The 13th segment displacement
1570 )))|(% style="text-align:center; vertical-align:middle; width:159px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1571
1572 (% class="table-bordered" %)
1573 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-58**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1574 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 13th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1575
1576 (% class="table-bordered" %)
1577 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:78px" %)**P07-59**|(% style="text-align:center; vertical-align:middle; width:494px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1578 |(% style="text-align:center; vertical-align:middle; width:494px" %)Acceleration and deceleration time of the 13th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1579
1580 (% class="table-bordered" %)
1581 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P07-60**|(% style="text-align:center; vertical-align:middle; width:444px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1582 |(% style="text-align:center; vertical-align:middle; width:444px" %)Waiting time after completion of the 13th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1583
1584 (% class="table-bordered" %)
1585 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-61**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1586 |(% style="text-align:center; vertical-align:middle" %)(((
1587 The 14th segment displacement
1588 )))|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1589
1590 (% class="table-bordered" %)
1591 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-62**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1592 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 14th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1593
1594 (% class="table-bordered" %)
1595 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P07-63**|(% style="text-align:center; vertical-align:middle; width:495px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1596 |(% style="text-align:center; vertical-align:middle; width:495px" %)Acceleration and deceleration time of the 14th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1597
1598 (% class="table-bordered" %)
1599 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:78px" %)**P07-64**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1600 |(% style="text-align:center; vertical-align:middle; width:445px" %)Waiting time after completion of the 14th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1601
1602 (% class="table-bordered" %)
1603 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**P07-65**|(% style="text-align:center; vertical-align:middle; width:242px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:152px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1604 |(% style="text-align:center; vertical-align:middle; width:242px" %)(((
1605 The 15th segment displacement
1606 )))|(% style="text-align:center; vertical-align:middle; width:152px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:177px" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1607
1608 (% class="table-bordered" %)
1609 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-66**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1610 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 15th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1611
1612 (% class="table-bordered" %)
1613 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P07-67**|(% style="text-align:center; vertical-align:middle; width:495px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1614 |(% style="text-align:center; vertical-align:middle; width:495px" %)Acceleration and deceleration time of the 15th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1615
1616 (% class="table-bordered" %)
1617 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:75px" %)**P07-68**|(% style="text-align:center; vertical-align:middle; width:448px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1618 |(% style="text-align:center; vertical-align:middle; width:448px" %)Waiting time after completion of the 15th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1619
1620 (% class="table-bordered" %)
1621 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P07-69**|(% style="text-align:center; vertical-align:middle; width:231px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1622 |(% style="text-align:center; vertical-align:middle; width:231px" %)(((
1623 The 16th segment displacement
1624 )))|(% style="text-align:center; vertical-align:middle; width:133px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)10000|(% style="text-align:center; vertical-align:middle" %)-2147483647 to 2147483646|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-
1625
1626 (% class="table-bordered" %)
1627 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P07-70**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1628 |(% style="text-align:center; vertical-align:middle" %)Maximum speed of the 16th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 5000|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)rpm
1629
1630 (% class="table-bordered" %)
1631 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:76px" %)**P07-71**|(% style="text-align:center; vertical-align:middle; width:496px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1632 |(% style="text-align:center; vertical-align:middle; width:496px" %)Acceleration and deceleration time of the 16th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)ms
1633
1634 (% class="table-bordered" %)
1635 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:77px" %)**P07-72**|(% style="text-align:center; vertical-align:middle; width:446px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1636 |(% style="text-align:center; vertical-align:middle; width:446px" %)Waiting time after completion of the 16th segment displacement|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)1 to 65535|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
1637
1638 = **Group P10 Accessibility** =
1639
1640 (% class="table-bordered" %)
1641 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P10-01**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1642 |(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)ms
1643 |(% colspan="8" %)Used to set JOG speed
1644
1645 (% class="table-bordered" %)
1646 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P10-02**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1647 |(% style="text-align:center; vertical-align:middle" %)Factory reset|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)-
1648 |(% colspan="8" %)Write 1 to factory reset
1649
1650 (% class="table-bordered" %)
1651 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P10-03**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1652 |(% style="text-align:center; vertical-align:middle" %)Fault clearing|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)-
1653 |(% colspan="8" %)(((
1654 Fault reset operation selection
1655
1656 (% class="table-bordered" %)
1657 |(% style="text-align:center; vertical-align:middle; width:96px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:138px" %)**Function**|(% style="text-align:center; vertical-align:middle; width:926px" %)**Remarks**
1658 |(% style="text-align:center; vertical-align:middle; width:96px" %)0|(% style="width:138px" %)No operation|(% style="width:926px" %)-
1659 |(% style="text-align:center; vertical-align:middle; width:96px" %)1|(% style="width:138px" %)Fault clearing|(% style="width:926px" %)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.
1660
1661 ✎**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.
1662 )))
1663
1664 (% class="table-bordered" %)
1665 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P10-04**|(% style="text-align:center; vertical-align:middle; width:333px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1666 |(% style="text-align:center; vertical-align:middle; width:333px" %)Motor overload protection time factor|(% style="text-align:center; vertical-align:middle; width:188px" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 800|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)%
1667 |(% colspan="8" %)(((
1668 Set the time for code A-82 (Motor overload warning) and Er.34 (Motor overload protection fault) through this function code.
1669
1670 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.
1671 )))
1672
1673 (% class="table-bordered" %)
1674 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P10-05**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1675 |(% style="text-align:center; vertical-align:middle" %)Motor model|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 65535|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)-
1676 |(% colspan="8" %)(((
1677 This function code displays the motor code code of the motor currently recognized by the servo drive (including the last successful recognition).
1678
1679 ✎**Note:** It is necessary to connect the motor first, and then power on the drive. Otherwise, it will report “Er.27” (encoder disconnection fault) .
1680 )))
1681
1682 (% class="table-bordered" %)
1683 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P10-06**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1684 |(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle" %)Shutdown setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)-
1685 |(% colspan="8" %)(((
1686 Used to clear the rotation number of multi-turn absolute encoder (U0-55), current position (U0-56) or clear the encoder fault alarms
1687
1688 (% class="table-bordered" %)
1689 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Function**
1690 |(% style="text-align:center; vertical-align:middle" %)0|No operation;
1691 |(% style="text-align:center; vertical-align:middle" %)1|Clear multi-turn data, encoder current position and encoder fault alarms
1692
1693 ✎**Note:** After reset (P10-06 is set to 1), the absolute position of the encoder will change suddenly, and the mechanical origin return operation is required.
1694 )))
1695
1696 = **Group P12 Communication parameters** =
1697
1698 (% class="table-bordered" %)
1699 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P12-01**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1700 |(% style="text-align:center; vertical-align:middle" %)Servo address|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 247|(% style="text-align:center; vertical-align:middle" %)Communication parameter|(% style="text-align:center; vertical-align:middle" %)-
1701 |(% colspan="8" %)Set the Modbus communication address of servo drive
1702
1703 (% class="table-bordered" %)
1704 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P12-02**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1705 |(% style="text-align:center; vertical-align:middle" %)Baud rate|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)0 to 5|(% style="text-align:center; vertical-align:middle" %)Communication parameter|(% style="text-align:center; vertical-align:middle" %)-
1706 |(% colspan="8" %)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.(((
1707 (% class="table-bordered" %)
1708 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Baud rate setting**|(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Baud rate setting**
1709 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)2400 bps|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)19200 bps
1710 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)4800 bps|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)38400 bps
1711 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)9600 bps|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)57600 bps
1712 )))
1713
1714 (% class="table-bordered" %)
1715 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P12-03**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1716 |(% style="text-align:center; vertical-align:middle" %)Serial data format|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(% style="text-align:center; vertical-align:middle" %)Communication parameter|(% style="text-align:center; vertical-align:middle" %)-
1717 |(% colspan="8" %)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.(((
1718 (% class="table-bordered" %)
1719 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Data format**
1720 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1 stop bit, no parity
1721 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 stop bit, odd parity
1722 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1 stop bit, even parity
1723 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2 stop bits, no parity
1724 )))
1725
1726 (% class="table-bordered" %)
1727 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P12-04**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1728 |(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1729 Write Modbus communication data to EEPROM
1730 )))|(% style="text-align:center; vertical-align:middle; width:165px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:205px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:95px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Communication parameter|(% style="text-align:center; vertical-align:middle" %)-
1731 |(% colspan="8" %)(((
1732 Whether the function code written by the communication method is saved to EEPRO
1733
1734 (% class="table-bordered" %)
1735 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Whether the function code written by the communication method is saved to EEPROM**
1736 |(% style="text-align:center; vertical-align:middle" %)0|Do not write to EEPROM, and do not save data after power failure;
1737 |(% style="text-align:center; vertical-align:middle" %)1|Write to EEPROM, and save data after power failure;
1738
1739 ✎**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.
1740 )))
1741
1742 (% class="table-bordered" %)
1743 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1744 **P12-05**
1745
1746 ☆
1747 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1748 |(% style="text-align:center; vertical-align:middle" %)RS422/RS485 function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Communication parameter|(% style="text-align:center; vertical-align:middle" %)-
1749 |(% colspan="8" %)(((
1750 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)
1751
1752 (% class="table-bordered" %)
1753 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Communication method**
1754 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)RS422 communication
1755 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)RS485 communication
1756
1757 ✎**Note:** **“☆”** indicates that only VD2F servo drive support this function code. The VD2-0XXSA1G model does not have this function code.
1758 )))
1759
1760 = **Group P13 Communication input and output terminal** =
1761
1762 (% class="table-bordered" %)
1763 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-01**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1764 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1765 |(% colspan="8" %)When P06-04 is set to 1, DI_1 channel logic is controlled by this function code.(((
1766 (% class="table-bordered" %)
1767 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDI_1 input level**
1768 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
1769 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
1770 )))
1771
1772 (% class="table-bordered" %)
1773 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-02**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1774 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1775 |(% colspan="8" %)When P06-07 is set to 1, DI_2 channel logic is controlled by this function code.
1776
1777 (% class="table-bordered" %)
1778 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-03**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1779 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1780 |(% colspan="8" %)When P06-10 is set to 1, DI_3 channel logic is controlled by this function code.
1781
1782 (% class="table-bordered" %)
1783 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-04**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1784 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1785 |(% colspan="8" %)When P06-13 is set to 1, DI_4 channel logic is controlled by this function code.
1786
1787 (% class="table-bordered" %)
1788 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-05**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1789 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1790 |(% colspan="8" %)When P06-16 is set to 1, DI_5 channel logic is controlled by this function code.
1791
1792 (% class="table-bordered" %)
1793 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1794 **P13-06**
1795
1796 ☆
1797 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1798 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1799 |(% colspan="8" %)(((
1800 When P06-19 is set to 1, DI_6 channel logic is controlled by this function code.
1801
1802 “☆” indicates that the VD2F servo drive does not support this function code.
1803 )))
1804
1805 (% class="table-bordered" %)
1806 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1807 **P13-07**
1808
1809 ☆
1810 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1811 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1812 |(% colspan="8" %)(((
1813 When P06-22 is set to 1, DI_7 channel logic is controlled by this function code.
1814
1815 “☆” indicates that the VD2F servo drive does not support this function code.
1816 )))
1817
1818 (% class="table-bordered" %)
1819 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1820 **P13-08**
1821
1822 ☆
1823 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1824 |(% style="text-align:center; vertical-align:middle" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1825 |(% colspan="8" %)(((
1826 When P06-25 is set to 1, DI_8 channel logic is controlled by this function code.
1827
1828 “☆” indicates that the VD2F servo drive does not support this function code.
1829 )))
1830
1831 (% class="table-bordered" %)
1832 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-11**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1833 |(% style="text-align:center; vertical-align:middle" %)Virtual VDO_1 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1834 |(% colspan="8" %)Used to set the input level logic when the DO function selected by VDO_1 is valid(((
1835 (% class="table-bordered" %)
1836 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDo_1 input level**
1837 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
1838 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
1839 )))
1840
1841 (% class="table-bordered" %)
1842 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-12**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1843 |(% style="text-align:center; vertical-align:middle" %)Virtual VD0_2 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1844
1845 (% class="table-bordered" %)
1846 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-13**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1847 |(% style="text-align:center; vertical-align:middle" %)Virtual VD0_3 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1848
1849 (% class="table-bordered" %)
1850 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P13-14**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1851 |(% style="text-align:center; vertical-align:middle" %)Virtual VD0_4 input value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)DI/DO|(% style="text-align:center; vertical-align:middle" %)-
1852
1853 = **Group U0 Universal monitoring** =
1854
1855 (% class="table-bordered" %)
1856 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-01**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1857 |(% style="text-align:center; vertical-align:middle" %)Servo status|(% style="text-align:center; vertical-align:middle" %)1 to 4|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
1858 |(% colspan="7" %)Display the status of servo drive.(((
1859 (% class="table-bordered" %)
1860 |(% style="text-align:center; vertical-align:middle" %)**Display value**|(% style="text-align:center; vertical-align:middle" %)**Status**|(% style="text-align:center; vertical-align:middle" %)**Display value**|(% style="text-align:center; vertical-align:middle" %)**Status**
1861 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Initialization|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)Run
1862 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)Rdy and JOG|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Fault
1863 )))
1864
1865 (% class="table-bordered" %)
1866 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-02**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1867 |(% style="text-align:center; vertical-align:middle" %)Servo motor speed|(% style="text-align:center; vertical-align:middle" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
1868 |(% colspan="7" %)Display the actual speed of servo drive. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
1869 (% class="table-bordered" %)
1870 |(% style="text-align:center; vertical-align:middle; width:576px" %)500 rpm display|(% style="text-align:center; vertical-align:middle; width:584px" %)-500 rpm display
1871 |(% style="text-align:center; vertical-align:middle; width:576px" %)[[image:image-20220707160656-1.jpeg]]|(% style="text-align:center; vertical-align:middle; width:584px" %)[[image:image-20220707160701-2.jpeg]]
1872 )))
1873
1874 (% class="table-bordered" %)
1875 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-03**|(% style="text-align:center; vertical-align:middle; width:273px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:160px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1876 |(% style="text-align:center; vertical-align:middle; width:273px" %)Input speed instruction|(% style="text-align:center; vertical-align:middle; width:209px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:160px" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
1877 |(% colspan="7" %)Display input speed instruction. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
1878 (% class="table-bordered" %)
1879 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
1880 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163722-1.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163726-2.jpeg]]
1881 )))
1882
1883 (% class="table-bordered" %)
1884 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-04**|(% style="text-align:center; vertical-align:middle; width:336px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:208px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1885 |(% style="text-align:center; vertical-align:middle; width:336px" %)Corresponding speed of position instruction|(% style="text-align:center; vertical-align:middle; width:208px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:193px" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
1886 |(% colspan="7" %)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.(((
1887 (% class="table-bordered" %)
1888 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
1889 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160850-3.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160859-4.jpeg]]
1890 )))
1891
1892 (% class="table-bordered" %)
1893 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-05**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle; width:141px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:153px" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1894 |(% style="text-align:center; vertical-align:middle" %)Pulse deviation|(% style="text-align:center; vertical-align:middle" %)-2^^31^^ to 2^^31^^|(% style="text-align:center; vertical-align:middle; width:141px" %)Universal|(% style="text-align:center; vertical-align:middle; width:153px" %)Decimal|(% style="text-align:center; vertical-align:middle" %)(((
1895 Equivalent pulse deviation
1896 )))|(% style="text-align:center; vertical-align:middle" %)32-bit
1897 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
1898 Display pulse deviation. If U0-05 is set to 32768, the display of servo drive panel is as below.
1899
1900 [[image:image-20220608162142-14.png]]
1901 )))
1902
1903 (% class="table-bordered" %)
1904 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-08**|(% style="text-align:center; vertical-align:middle; width:357px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1905 |(% style="text-align:center; vertical-align:middle; width:357px" %)Input instruction pulse frequency|(% style="text-align:center; vertical-align:middle; width:149px" %)-|(% style="text-align:center; vertical-align:middle; width:151px" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)KHz|(% style="text-align:center; vertical-align:middle" %)16-bit
1906 |(% colspan="7" %)Display the input instruction pulse frequency of servo drive.
1907
1908 (% class="table-bordered" %)
1909 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**U0-09**|(% style="text-align:center; vertical-align:middle; width:247px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:163px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:261px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:368px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:208px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Data type**
1910 |(% style="text-align:center; vertical-align:middle; width:247px" %)Input instruction pulse number|(% style="text-align:center; vertical-align:middle; width:163px" %)-2^^31^^ to 2^^31^^|(% style="text-align:center; vertical-align:middle; width:261px" %)Universal|(% style="text-align:center; vertical-align:middle; width:368px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:208px" %)(((
1911 Equivalent pulse deviation
1912 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)32-bit
1913 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
1914 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.
1915
1916 [[image:image-20220608162219-15.png]]
1917 )))
1918
1919 (% class="table-bordered" %)
1920 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:79px" %)**U0-13**|(% style="text-align:center; vertical-align:middle; width:511px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:167px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1921 |(% style="text-align:center; vertical-align:middle; width:511px" %)(((
1922 Encoder cumulative position (Lower 32 bits)
1923 )))|(% style="text-align:center; vertical-align:middle; width:167px" %)-2^^31^^ to 2^^31^^|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
1924
1925 (% class="table-bordered" %)
1926 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-15**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1927 |(% style="text-align:center; vertical-align:middle" %)(((
1928 Encoder cumulative position (High 32 bits)
1929 )))|(% style="text-align:center; vertical-align:middle" %)-2^^31^^ to 2^^31^^|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
1930 |(% colspan="7" %)Display the cumulative data of encoder position. It is used with U0-13 cooperatively.
1931
1932 (% class="table-bordered" %)
1933 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-17**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1934 |(% style="text-align:center; vertical-align:middle" %)DI input signal status|(% style="text-align:center; vertical-align:middle" %)(((
1935 00000000 to 11111111
1936 )))|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Binary|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)16-bit
1937 |(% colspan="7" %)(((
1938 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").
1939
1940 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.
1941
1942 (% style="text-align:center" %)
1943 [[image:image-20220707161021-6.jpeg]]
1944 )))
1945
1946 (% class="table-bordered" %)
1947 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U0-19**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1948 |(% style="text-align:center; vertical-align:middle" %)DO output signal status|(% style="text-align:center; vertical-align:middle" %)(((
1949 00000000 to 00001111
1950 )))|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Binary|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)16-bit
1951 |(% colspan="7" %)(((
1952 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").
1953
1954 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.
1955
1956 (% style="text-align:center" %)
1957 [[image:image-20220707161122-7.jpeg]]
1958 )))
1959
1960 (% class="table-bordered" %)
1961 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:196px" %)**U0-20**|(% style="text-align:center; vertical-align:middle; width:359px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1962 |(% style="text-align:center; vertical-align:middle; width:359px" %)Real-time load inertia ratio|(% style="text-align:center; vertical-align:middle" %)0 to 1000000|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)%|(% style="text-align:center; vertical-align:middle" %)16-bit
1963 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
1964 Display the current load inertia ratio. If the load inertia ratio is 3 times (300%) , the panel of servo drive is displayed as below.
1965
1966 [[image:image-20220707161347-10.jpeg]]
1967 )))
1968
1969 (% class="table-bordered" %)
1970 |(% rowspan="3" style="text-align:center; vertical-align:middle; width:192px" %)**U0-21**|(% style="text-align:center; vertical-align:middle; width:364px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1971 |(% style="text-align:center; vertical-align:middle; width:364px" %)AI1 input voltage value|(% rowspan="2" style="text-align:center; vertical-align:middle" %)-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Universal|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Decimal|(% rowspan="2" style="text-align:center; vertical-align:middle" %)V|(% rowspan="2" style="text-align:center; vertical-align:middle" %)16-bit
1972 |(% style="text-align:center; vertical-align:middle; width:364px" %)Reserved**☆**
1973 |(% colspan="7" %)(((
1974 Display the actual sampling voltage of analog channel 1.
1975
1976 (% class="table-bordered" %)
1977 |(% style="text-align:center; vertical-align:middle" %)10.00V display|(% style="text-align:center; vertical-align:middle" %)-10.00V display
1978 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161301-8.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161307-9.jpeg]]
1979
1980 “☆” indicates that the VD2F servo drive does not have this monitoring.
1981 )))
1982
1983 (% class="table-bordered" %)
1984 |(% rowspan="3" style="text-align:center; vertical-align:middle; width:194px" %)**U0-22**|(% style="text-align:center; vertical-align:middle; width:362px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1985 |(% style="text-align:center; vertical-align:middle; width:362px" %)AI2 input voltage value|(% rowspan="2" style="text-align:center; vertical-align:middle" %)-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Universal|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Decimal|(% rowspan="2" style="text-align:center; vertical-align:middle" %)V|(% rowspan="2" style="text-align:center; vertical-align:middle" %)16-bit
1986 |(% style="text-align:center; vertical-align:middle; width:362px" %)Reserved**☆**
1987 |(% colspan="7" %)“☆” indicates that the VD2F servo drive does not have this monitoring.
1988
1989 (% class="table-bordered" %)
1990 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)**U0-23**|(% style="text-align:center; vertical-align:middle; width:339px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1991 |(% style="text-align:center; vertical-align:middle; width:339px" %)Vibration Frequency|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)Hz|(% style="text-align:center; vertical-align:middle" %)16-bit
1992
1993 (% class="table-bordered" %)
1994 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:189px" %)**U0-24**|(% style="text-align:center; vertical-align:middle; width:338px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
1995 |(% style="text-align:center; vertical-align:middle; width:338px" %)Vibration amplitude|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
1996
1997 (% class="table-bordered" %)
1998 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:192px" %)**U0-25**|(% style="text-align:center; vertical-align:middle; width:335px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:271px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Data type**
1999 |(% style="text-align:center; vertical-align:middle; width:335px" %)Forward torque limit value|(% style="text-align:center; vertical-align:middle; width:154px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:200px" %)Universal|(% style="text-align:center; vertical-align:middle; width:271px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:122px" %)%|(% style="text-align:center; vertical-align:middle; width:211px" %)16-bit
2000 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2001 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.
2002
2003 [[image:image-20220707161618-11.jpeg]]
2004 )))
2005
2006 (% class="table-bordered" %)
2007 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:190px" %)**U0-26**|(% style="text-align:center; vertical-align:middle; width:388px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2008 |(% style="text-align:center; vertical-align:middle; width:388px" %)Reverse torque limit value|(% style="text-align:center; vertical-align:middle" %)0 to 300|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)%|(% style="text-align:center; vertical-align:middle" %)16-bit
2009 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2010 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.
2011
2012 [[image:image-20220707161625-12.jpeg]]
2013 )))
2014
2015 (% class="table-bordered" %)
2016 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:193px" %)**U0-27**|(% style="text-align:center; vertical-align:middle; width:376px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2017 |(% style="text-align:center; vertical-align:middle; width:376px" %)Forward speed limit value|(% style="text-align:center; vertical-align:middle" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
2018 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2019 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.
2020
2021 [[image:image-20220707161633-13.jpeg]]
2022 )))
2023
2024 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:188px" %)**U0-28**|(% style="text-align:center; vertical-align:middle; width:383px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle; width:230px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:124px" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2025 |(% style="text-align:center; vertical-align:middle; width:383px" %)Reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:184px" %)-5000 to 0|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle; width:230px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:124px" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
2026 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2027 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.
2028
2029 [[image:image-20220707161639-14.jpeg]]
2030 )))
2031
2032 (% class="table-bordered" %)
2033 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:188px" %)**U0-29**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:214px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:114px" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2034 |(% style="text-align:center; vertical-align:middle; width:382px" %)Mechanical angle|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 359|(% style="text-align:center; vertical-align:middle; width:188px" %)Universal|(% style="text-align:center; vertical-align:middle; width:214px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:114px" %)°|(% style="text-align:center; vertical-align:middle" %)16-bit
2035 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2036 Display current mechanical angle of motor. 0 corresponds to a mechanical angle of 0 degree.
2037
2038 If the mechanical angle is 270°, the panel of servo drive is displayed as below.
2039
2040 [[image:image-20220707161852-15.jpeg]]
2041 )))
2042
2043 (% class="table-bordered" %)
2044 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:189px" %)**U0-30**|(% style="text-align:center; vertical-align:middle; width:383px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:194px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:208px" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2045 |(% style="text-align:center; vertical-align:middle; width:383px" %)Electrical angle|(% style="text-align:center; vertical-align:middle; width:175px" %)0 to 359|(% style="text-align:center; vertical-align:middle; width:194px" %)Universal|(% style="text-align:center; vertical-align:middle; width:208px" %)Decimal|(% style="text-align:center; vertical-align:middle" %)°|(% style="text-align:center; vertical-align:middle" %)16-bit
2046 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2047 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.
2048
2049 [[image:image-20220707161905-16.jpeg]]
2050
2051
2052 )))
2053
2054 (% class="table-bordered" %)
2055 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:189px" %)**U0-31**|(% style="text-align:center; vertical-align:middle; width:387px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:199px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:192px" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2056 |(% style="text-align:center; vertical-align:middle; width:387px" %)Bus voltage|(% style="text-align:center; vertical-align:middle; width:177px" %)-|(% style="text-align:center; vertical-align:middle; width:199px" %)Universal|(% style="text-align:center; vertical-align:middle; width:192px" %)Decimal|(% style="text-align:center; vertical-align:middle" %)V|(% style="text-align:center; vertical-align:middle" %)16-bit
2057 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2058 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.
2059
2060 [[image:image-20220707161912-17.jpeg]]
2061 )))
2062
2063 (% class="table-bordered" %)
2064 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:183px" %)**U0-32**|(% style="text-align:center; vertical-align:middle; width:372px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:139px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2065 |(% style="text-align:center; vertical-align:middle; width:372px" %)Radiator temperature|(% style="text-align:center; vertical-align:middle; width:139px" %)-|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)°C|(% style="text-align:center; vertical-align:middle" %)16-bit
2066
2067 (% class="table-bordered" %)
2068 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:184px" %)**U0-33**|(% style="text-align:center; vertical-align:middle; width:370px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:141px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:199px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:116px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Data type**
2069 |(% style="text-align:center; vertical-align:middle; width:370px" %)Instantaneous output power|(% style="text-align:center; vertical-align:middle; width:141px" %)-|(% style="text-align:center; vertical-align:middle; width:199px" %)Universal|(% style="text-align:center; vertical-align:middle; width:266px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:116px" %)W|(% style="text-align:center; vertical-align:middle; width:209px" %)16-bit
2070
2071 (% class="table-bordered" %)
2072 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:186px" %)**U0-34**|(% style="text-align:center; vertical-align:middle; width:367px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:198px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2073 |(% style="text-align:center; vertical-align:middle; width:367px" %)Average output power|(% style="text-align:center; vertical-align:middle; width:144px" %)-|(% style="text-align:center; vertical-align:middle; width:198px" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)W|(% style="text-align:center; vertical-align:middle" %)16-bit
2074
2075 (% class="table-bordered" %)
2076 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:186px" %)**U0-35**|(% style="text-align:center; vertical-align:middle; width:367px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:146px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:210px" %)**Data type**
2077 |(% style="text-align:center; vertical-align:middle; width:367px" %)Total operation time (hour)|(% style="text-align:center; vertical-align:middle; width:146px" %)-|(% style="text-align:center; vertical-align:middle; width:197px" %)Universal|(% style="text-align:center; vertical-align:middle; width:266px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:113px" %)h|(% style="text-align:center; vertical-align:middle; width:210px" %)16-bit
2078
2079 (% class="table-bordered" %)
2080 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:186px" %)**U0-37**|(% style="text-align:center; vertical-align:middle; width:368px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:198px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:267px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:210px" %)**Data type**
2081 |(% style="text-align:center; vertical-align:middle; width:368px" %)Total operation time (minutes)|(% style="text-align:center; vertical-align:middle; width:145px" %)-|(% style="text-align:center; vertical-align:middle; width:198px" %)Universal|(% style="text-align:center; vertical-align:middle; width:267px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:111px" %)min|(% style="text-align:center; vertical-align:middle; width:210px" %)16-bit
2082
2083 (% class="table-bordered" %)
2084 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:188px" %)**U0-38**|(% style="text-align:center; vertical-align:middle; width:366px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:146px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:265px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:117px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Data type**
2085 |(% style="text-align:center; vertical-align:middle; width:366px" %)Total operation time (seconds)|(% style="text-align:center; vertical-align:middle; width:146px" %)-|(% style="text-align:center; vertical-align:middle; width:197px" %)Universal|(% style="text-align:center; vertical-align:middle; width:265px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:117px" %)s|(% style="text-align:center; vertical-align:middle; width:206px" %)16-bit
2086
2087 (% class="table-bordered" %)
2088 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:145px" %)**U0-39**|(% style="text-align:center; vertical-align:middle; width:410px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:199px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:264px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:107px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:215px" %)**Data type**
2089 |(% style="text-align:center; vertical-align:middle; width:410px" %)Load torque percentage|(% style="text-align:center; vertical-align:middle; width:145px" %)-|(% style="text-align:center; vertical-align:middle; width:199px" %)Universal|(% style="text-align:center; vertical-align:middle; width:264px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:107px" %)%|(% style="text-align:center; vertical-align:middle; width:215px" %)16-bit
2090 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2091 Display current load torque percentage. If the current load torque percentage is 10.3%, the panel of servo drive is displayed as below.
2092
2093 [[image:image-20220707161956-18.jpeg]]
2094 )))
2095
2096 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:195px" %)**U0-40**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:153px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Data type**
2097 |(% style="text-align:center; vertical-align:middle; width:360px" %)Current operation time (hour)|(% style="text-align:center; vertical-align:middle; width:153px" %)-|(% style="text-align:center; vertical-align:middle; width:197px" %)Universal|(% style="text-align:center; vertical-align:middle; width:263px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:111px" %)h|(% style="text-align:center; vertical-align:middle; width:206px" %)16-bit
2098
2099 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:196px" %)**U0-42**|(% style="text-align:center; vertical-align:middle; width:363px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:264px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:204px" %)**Data type**
2100 |(% style="text-align:center; vertical-align:middle; width:363px" %)Current operation time (minutes)|(% style="text-align:center; vertical-align:middle; width:151px" %)-|(% style="text-align:center; vertical-align:middle; width:197px" %)Universal|(% style="text-align:center; vertical-align:middle; width:264px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:110px" %)min|(% style="text-align:center; vertical-align:middle; width:204px" %)16-bit
2101
2102 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:197px" %)**U0-43**|(% style="text-align:center; vertical-align:middle; width:362px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:152px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:199px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:264px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Data type**
2103 |(% style="text-align:center; vertical-align:middle; width:362px" %)Current operation time (seconds)|(% style="text-align:center; vertical-align:middle; width:152px" %)-|(% style="text-align:center; vertical-align:middle; width:199px" %)Universal|(% style="text-align:center; vertical-align:middle; width:264px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:111px" %)s|(% style="text-align:center; vertical-align:middle; width:200px" %)16-bit
2104
2105 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:197px" %)**U0-44**|(% style="text-align:center; vertical-align:middle; width:365px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:265px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Data type**
2106 |(% style="text-align:center; vertical-align:middle; width:365px" %)Instantaneous braking resistor power|(% style="text-align:center; vertical-align:middle; width:150px" %)-|(% style="text-align:center; vertical-align:middle; width:200px" %)Universal|(% style="text-align:center; vertical-align:middle; width:265px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:111px" %)W|(% style="text-align:center; vertical-align:middle; width:197px" %)16-bit
2107
2108 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:201px" %)**U0-46**|(% style="text-align:center; vertical-align:middle; width:361px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:203px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:199px" %)**Data type**
2109 |(% style="text-align:center; vertical-align:middle; width:361px" %)Average braking resistor power|(% style="text-align:center; vertical-align:middle; width:151px" %)-|(% style="text-align:center; vertical-align:middle; width:203px" %)Universal|(% style="text-align:center; vertical-align:middle; width:260px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:110px" %)W|(% style="text-align:center; vertical-align:middle; width:199px" %)16-bit
2110
2111 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:201px" %)**U0-48**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:262px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:194px" %)**Data type**
2112 |(% style="text-align:center; vertical-align:middle; width:360px" %)Power-on times|(% style="text-align:center; vertical-align:middle; width:151px" %)-|(% style="text-align:center; vertical-align:middle; width:206px" %)Universal|(% style="text-align:center; vertical-align:middle; width:262px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:111px" %)Times|(% style="text-align:center; vertical-align:middle; width:194px" %)16-bit
2113
2114 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:200px" %)**U0-50**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:153px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:206px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Data type**
2115 |(% style="text-align:center; vertical-align:middle; width:360px" %)Motor cumulative number of turns (low 32 bits)|(% style="text-align:center; vertical-align:middle; width:153px" %)0 to 2^^32^^-1|(% style="text-align:center; vertical-align:middle; width:206px" %)Universal|(% style="text-align:center; vertical-align:middle; width:260px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:113px" %)Cycles|(% style="text-align:center; vertical-align:middle; width:193px" %)32-bit
2116
2117 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:200px" %)**U0-51**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:258px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:116px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Data type**
2118 |(% style="text-align:center; vertical-align:middle; width:360px" %)Motor cumulative number of turns (high 32 bits)|(% style="text-align:center; vertical-align:middle; width:154px" %)0 to 2^^32^^-1|(% style="text-align:center; vertical-align:middle; width:209px" %)Universal|(% style="text-align:center; vertical-align:middle; width:258px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:116px" %)Cycles|(% style="text-align:center; vertical-align:middle; width:188px" %)32-bit
2119
2120 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:201px" %)**U0-53**|(% style="text-align:center; vertical-align:middle; width:361px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:152px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:208px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:262px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:117px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Data type**
2121 |(% style="text-align:center; vertical-align:middle; width:361px" %)Motor model code|(% style="text-align:center; vertical-align:middle; width:152px" %)-|(% style="text-align:center; vertical-align:middle; width:208px" %)Universal|(% style="text-align:center; vertical-align:middle; width:262px" %)Hexadecimal|(% style="text-align:center; vertical-align:middle; width:117px" %)-|(% style="text-align:center; vertical-align:middle; width:184px" %)16-bit
2122 |(% colspan="7" %)(((
2123 Display current Motor model code. Take WD80M-07530S-A1F (A026) as an example, the panel of servo drive is displayed as below.
2124
2125 (% style="text-align:center" %)
2126 [[image:image-20220707162054-20.jpeg]]
2127 )))
2128
2129 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:108px" %)**U0-54**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:155px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Data type**
2130 |(% style="text-align:center; vertical-align:middle; width:321px" %)Absolute encoder position within 1 circle|(% style="text-align:center; vertical-align:middle; width:144px" %)0 to 2^^32^^-1|(% style="text-align:center; vertical-align:middle; width:155px" %)Universal|(% style="text-align:center; vertical-align:middle; width:110px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:151px" %)Encoder unit|(% style="text-align:center; vertical-align:middle; width:87px" %)32-bit
2131 |(% colspan="7" %)Display the single turn position feedback value of absolute encoder
2132
2133 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:121px" %)**U0-55**|(% style="text-align:center; vertical-align:middle; width:338px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:142px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Data type**
2134 |(% style="text-align:center; vertical-align:middle; width:338px" %)(((
2135 Circle numbers of multi-turn absolute encoder
2136 )))|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:122px" %)Universal|(% style="text-align:center; vertical-align:middle; width:119px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:142px" %)Encoder unit|(% style="text-align:center; vertical-align:middle; width:86px" %)16-bit
2137 |(% colspan="7" %)Display the circle number of multi-turn absolute encoder
2138
2139 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:199px" %)**U0-56**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:168px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:201px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2140 |(% style="text-align:center; vertical-align:middle; width:373px" %)Multi-turn absolute encoder current position|(% style="text-align:center; vertical-align:middle; width:168px" %)-2^^31^^ to 2^^31^^|(% style="text-align:center; vertical-align:middle; width:201px" %)Universal|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2141 |(% colspan="7" %)Display the absolute position of motor (instruction unit). It is only valid is multi-turn absolute encoder motor
2142
2143 = **Group U1 Warning monitoring** =
2144
2145 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-01**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2146 |(% style="text-align:center; vertical-align:middle" %)Current fault code|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2147 |(% colspan="7" %)(((
2148 If there is fault in servo drive, it would display the corresponding fault. If not, the panel displays “~-~--”.
2149
2150 Take the fault “encoder disconnect” as an example, the panel of servo drive is displayed as below.
2151
2152 |(% style="text-align:center; vertical-align:middle; width:903px" %)Servo drive has an fault “encoder disconnection”|(% style="text-align:center; vertical-align:middle; width:564px" %)Servo drive has no fault
2153 |(% style="text-align:center; vertical-align:middle; width:903px" %)[[image:image-20220707162338-21.jpeg]]|(% style="text-align:center; vertical-align:middle; width:564px" %)[[image:image-20220707162345-22.jpeg]]
2154 )))
2155
2156 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-02**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2157 |(% style="text-align:center; vertical-align:middle" %)Current warning code|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2158 |(% colspan="7" %)(((
2159 If there is warning in servo drive, it would display the corresponding warning. If not, the panel displays “~-~--”.
2160
2161 Take the warning“DI port configuration duplication” as an example, the panel is displayed as below.
2162
2163 |(% style="text-align:center; vertical-align:middle; width:897px" %)Servo drive has an warning “DI port configuration duplication”|(% style="text-align:center; vertical-align:middle; width:556px" %)Servo drive has no warning
2164 |(% style="text-align:center; vertical-align:middle; width:897px" %)[[image:image-20220707162350-23.jpeg]]|(% style="text-align:center; vertical-align:middle; width:556px" %)[[image:image-20220707162345-22.jpeg]]
2165 )))
2166
2167 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-03**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2168 |(% style="text-align:center; vertical-align:middle" %)U phase current when faults occur|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)A|(% style="text-align:center; vertical-align:middle" %)16-bit
2169
2170 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-04**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2171 |(% style="text-align:center; vertical-align:middle" %)V phase current when faults occur|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)A|(% style="text-align:center; vertical-align:middle" %)16-bit
2172
2173 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-05**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:67px" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2174 |(% style="text-align:center; vertical-align:middle; width:373px" %)Bus voltage when faults occur|(% style="text-align:center; vertical-align:middle; width:97px" %)-|(% style="text-align:center; vertical-align:middle; width:134px" %)Warning|(% style="text-align:center; vertical-align:middle; width:171px" %)Decimal|(% style="text-align:center; vertical-align:middle; width:67px" %)V|(% style="text-align:center; vertical-align:middle" %)16-bit
2175
2176 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-06**|(% style="text-align:center; vertical-align:middle; width:379px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:101px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:132px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2177 |(% style="text-align:center; vertical-align:middle; width:379px" %)IGBT temperature when faults occur|(% style="text-align:center; vertical-align:middle; width:101px" %)-|(% style="text-align:center; vertical-align:middle; width:132px" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)℃|(% style="text-align:center; vertical-align:middle" %)16-bit
2178
2179 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-07**|(% style="text-align:center; vertical-align:middle; width:381px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:110px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2180 |(% style="text-align:center; vertical-align:middle; width:381px" %)Torque component when faults occur|(% style="text-align:center; vertical-align:middle; width:110px" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)%|(% style="text-align:center; vertical-align:middle" %)16-bit
2181
2182 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-08**|(% style="text-align:center; vertical-align:middle; width:386px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2183 |(% style="text-align:center; vertical-align:middle; width:386px" %)Excitation component when faults occur|(% style="text-align:center; vertical-align:middle; width:105px" %)-|(% style="text-align:center; vertical-align:middle; width:136px" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)%|(% style="text-align:center; vertical-align:middle" %)16-bit
2184
2185 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-09**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2186 |(% style="text-align:center; vertical-align:middle" %)Position deviation when faults occur|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2187
2188 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-10**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2189 |(% style="text-align:center; vertical-align:middle" %)The speed when faults occur|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)16-bit
2190
2191 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-11**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2192 |(% style="text-align:center; vertical-align:middle" %)The time when faults occur|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)s|(% style="text-align:center; vertical-align:middle" %)16-bit
2193
2194 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-12**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2195 |(% style="text-align:center; vertical-align:middle" %)Number of faults in this operation|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2196
2197 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-13**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2198 |(% style="text-align:center; vertical-align:middle" %)Number of warnings in this operation|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2199
2200 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-14**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2201 |(% style="text-align:center; vertical-align:middle" %)Total number of historical faults|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2202
2203 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-15**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2204 |(% style="text-align:center; vertical-align:middle" %)Total number of historical warnings|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2205
2206 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-16**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2207 |(% style="text-align:center; vertical-align:middle" %)The 1st fault code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2208 |(% colspan="7" style="text-align:center; vertical-align:middle" %)Display the 1st fault code of the most recent of servo drive
2209
2210 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-17**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2211 |(% style="text-align:center; vertical-align:middle" %)The 2nd fault code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2212
2213 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-18**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2214 |(% style="text-align:center; vertical-align:middle" %)The 3rd fault code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2215
2216 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-19**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2217 |(% style="text-align:center; vertical-align:middle" %)The 4th fault code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2218
2219 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-20**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2220 |(% style="text-align:center; vertical-align:middle" %)The 5th fault code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2221
2222 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-21**|(% style="text-align:center; vertical-align:middle; width:561px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:141px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2223 |(% style="text-align:center; vertical-align:middle; width:561px" %)The 1st warning code of the most recent|(% style="text-align:center; vertical-align:middle; width:141px" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2224 |(% colspan="7" %)Display the 1st warning code of the most recent of servo drive
2225
2226 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-22**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2227 |(% style="text-align:center; vertical-align:middle" %)The 2nd warning code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2228
2229 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-23**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2230 |(% style="text-align:center; vertical-align:middle" %)The 3rd warning code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2231
2232 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-24**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2233 |(% style="text-align:center; vertical-align:middle" %)The 4th warning code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2234
2235 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U1-25**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2236 |(% style="text-align:center; vertical-align:middle" %)The 5th warning code of the most recent|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2237
2238 = **Group U2 Device monitoring** =
2239
2240 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-01**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2241 |(% style="text-align:center; vertical-align:middle" %)Product series|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Device|(% style="text-align:center; vertical-align:middle" %)Hexadecimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2242 |(% colspan="7" %)(((
2243 Display the product series code of servo drive.
2244
2245 The product series code of VD2A and VD2B is 0x4432. The product series code of VD2F is 0x3246.
2246
2247 There are displayed as below.
2248
2249 [[image:image-20220707162607-24.jpeg]][[image:image-20220707162613-25.jpeg]]
2250 )))
2251
2252 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-02**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2253 |(% style="text-align:center; vertical-align:middle" %)Model|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Device|(% style="text-align:center; vertical-align:middle" %)Hexadecimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2254 |(% colspan="7" %)Display the servo drive model.(((
2255 |(% style="text-align:center; vertical-align:middle" %)**U2-01display**|(% style="text-align:center; vertical-align:middle" %)**U2-02 display**|(% style="text-align:center; vertical-align:middle" %)**Model**
2256 |(% rowspan="7" style="text-align:center; vertical-align:middle" %)[[image:image-20220707163045-26.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163056-28.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-010SA1G
2257 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163100-29.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-014SA1G
2258 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163104-30.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-016SA1G
2259 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163110-31.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-019SA1G
2260 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163115-32.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-021SA1G
2261 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163123-33.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-025SA1G
2262 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163128-34.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-030SA1G
2263 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)[[image:image-20220707163049-27.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163139-35.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2F-010SA1P
2264 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163144-36.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2F-014SA1P
2265 )))
2266
2267 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-03**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2268 |(% style="text-align:center; vertical-align:middle" %)Model|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Hexadecimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2269 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2270 |**U2-01 display**|**U2-02 display**|**U2-03 display**|**Model**
2271 |[[image:image-20220707165330-1.jpeg]]|[[image:image-20220707165334-2.jpeg]]|[[image:image-20220707165339-3.jpeg]]|(((
2272 VD2-021TA1G
2273 )))
2274 )))
2275
2276 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-04**|(% style="text-align:center; vertical-align:middle; width:277px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:131px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:173px" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2277 |(% style="text-align:center; vertical-align:middle; width:277px" %)Firmware version|(% style="text-align:center; vertical-align:middle; width:131px" %)-|(% style="text-align:center; vertical-align:middle; width:145px" %)Device|(% style="text-align:center; vertical-align:middle; width:173px" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2278 |(% colspan="7" %)(((
2279 Display the firmware version
2280
2281 Display format: X.YY. For example, 1.13. The panel is displayed as below.
2282
2283 (% style="text-align:center" %)
2284 [[image:image-20220707163242-37.jpeg]]
2285 )))
2286
2287 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-05**|(% style="text-align:center; vertical-align:middle; width:286px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:117px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:173px" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2288 |(% style="text-align:center; vertical-align:middle; width:286px" %)FPGA version|(% style="text-align:center; vertical-align:middle; width:117px" %)-|(% style="text-align:center; vertical-align:middle; width:150px" %)Device|(% style="text-align:center; vertical-align:middle; width:173px" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2289 |(% colspan="7" %)(((
2290 Display the hardware version (FPGA)
2291
2292 Display format: X.YY. For example, 1.01. The panel is displayed as below.
2293
2294 (% style="text-align:center" %)
2295 [[image:image-20220707163248-38.jpeg]]
2296 )))
2297
2298 |(% rowspan="3" style="text-align:center; vertical-align:middle" %)**U2-06**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2299 |(% style="text-align:center; vertical-align:middle" %)Manufacture date (year)|(% rowspan="2" style="text-align:center; vertical-align:middle" %)-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Device|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Decimal|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Year|(% rowspan="2" style="text-align:center; vertical-align:middle" %)16-bit
2300 |(% style="text-align:center; vertical-align:middle" %)Firmware date (year) *
2301 |(% colspan="7" %)Display the year of manufacture of the VD2F drive firmware.
2302
2303 |(% rowspan="3" style="text-align:center; vertical-align:middle" %)**U2-07**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2304 |(% style="text-align:center; vertical-align:middle" %)Manufacture date (month)|(% rowspan="2" style="text-align:center; vertical-align:middle" %)-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Device|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Decimal|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Month|(% rowspan="2" style="text-align:center; vertical-align:middle" %)16-bit
2305 |(% style="text-align:center; vertical-align:middle" %)Firmware date (month) *
2306 |(% colspan="7" %)Display the month of manufacture of the VD2F drive firmware.
2307
2308 |(% rowspan="3" style="text-align:center; vertical-align:middle" %)**U2-08**|(% style="text-align:center; vertical-align:middle; width:332px" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:139px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:182px" %)**Panel display**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Unit**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Data type**
2309 |(% style="text-align:center; vertical-align:middle; width:332px" %)Manufacture date (day)|(% rowspan="2" style="text-align:center; vertical-align:middle; width:104px" %)-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:139px" %)Device|(% rowspan="2" style="text-align:center; vertical-align:middle; width:182px" %)Decimal|(% rowspan="2" style="text-align:center; vertical-align:middle; width:104px" %)Day|(% rowspan="2" style="text-align:center; vertical-align:middle; width:137px" %)16-bit
2310 |(% style="text-align:center; vertical-align:middle; width:332px" %)Firmware date (day) *
2311 |(% colspan="7" %)(((
2312 Displays the production date of the VD2F drive firmware.
2313
2314 For example, the firmware production day of VD2F-014SA1P_V1.01 is January 10, 2022, the panel is displayed as below.
2315
2316 |(% style="text-align:center; vertical-align:middle" %)**U2-06**|(% style="text-align:center; vertical-align:middle" %)**U2-07**|(% style="text-align:center; vertical-align:middle" %)**U2-08**
2317 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163548-39.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163552-40.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163557-41.jpeg]]
2318 )))
2319
2320 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-09**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2321 |(% style="text-align:center; vertical-align:middle" %)Device serial number 1|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2322
2323 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-10**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2324 |(% style="text-align:center; vertical-align:middle" %)Device serial number 2|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2325
2326 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-11**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2327 |(% style="text-align:center; vertical-align:middle" %)Device serial number 3|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2328
2329 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-12**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2330 |(% style="text-align:center; vertical-align:middle" %)Device serial number 4|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2331
2332 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-13**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2333 |(% style="text-align:center; vertical-align:middle" %)Device serial number 5|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2334
2335 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-14**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2336 |(% style="text-align:center; vertical-align:middle" %)Device serial number 6|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2337
2338 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-15**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2339 |(% style="text-align:center; vertical-align:middle" %)Device serial number 7|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit
2340
2341 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**U2-16**|(% style="text-align:center; vertical-align:middle" %)**Monitoring name**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Panel display**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2342 |(% style="text-align:center; vertical-align:middle" %)Device serial number 8|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Decimal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)16-bit