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Wiki source code of 09 Parameters

Version 71.2 by Karen on 2023/05/17 10:24
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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:90px" %)**P02-01**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**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" %)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:90px" %)**P02-02**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:248px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:142px" %)**Unit**
615 |(% style="text-align:center; vertical-align:middle" %)1st speed 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" %)65|(% style="text-align:center; vertical-align:middle" %)0 to 35000|(% style="text-align:center; vertical-align:middle; width:248px" %)Gain control|(% style="text-align:center; vertical-align:middle; width:142px" %)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:90px" %)**P02-03**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**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" %)1st speed loop integral time constant|(% style="text-align:center; vertical-align:middle" %)(((
621 Operation setting
622 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)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:90px" %)**P02-04**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
627 |(% style="text-align:center; vertical-align:middlex" %)2nd 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" %)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:90px" %)**P02-05**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**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" %)2nd speed 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" %)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:90px" %)**P02-06**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**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" %)2nd speed loop integral time constant|(% style="text-align:center; vertical-align:middle" %)(((
638 Operation setting
639 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)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:90px" %)**P02-07**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**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" %)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 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-08**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
657 |(% style="text-align:center" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control|(% style="width:87px" %)
658 |(% colspan="8" %)(((
659 Set the conditions for gain switching.
660
661 |(% style="text-align:center; vertical-align:middle; width:120px" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Gain switching conditions**|(% style="text-align:center; vertical-align:middle" %)**Details**
662 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)The default is the first gain|Fixed use of the first gain
663 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((
664 Use DI function 10 (GAIN-SEL, gain switching);
665
666 DI logic is invalid: the first gain (P02-01~~P02-03);
667
668 DI logic is valid: the second gain (P02-04~~P02-06).
669 )))
670 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
671 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
672
673 In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
674 )))
675 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
676 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
677
678 In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
679 )))
680 |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
681 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
682
683 In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
684 )))
685 |(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
686 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
687
688 In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
689 )))
690 |(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
691 In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched;
692
693 In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
694 )))
695 |(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
696 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
697
698 In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
699 )))
700 |(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
701 In the previous first gain, if the position command is not 0, switch to the second gain;
702
703 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
704 )))
705 |(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
706 In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
707 )))
708 |(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
709 In the previous first gain, if the position command is not 0, the second gain is switched;
710
711 In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).
712 )))
713
714 (% class="table-bordered" %)
715 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-09**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
716 |(% style="text-align:center; vertical-align:middle" %)Speed feedforward gain|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
717 Operation setting
718 )))|(% style="text-align:center; vertical-align:middle; width:202px" %)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%
719 |(% colspan="8" %)Set speed feedforward gain
720
721 (% class="table-bordered" %)
722 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-10**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
723 |(% style="text-align:center; vertical-align:middle" %)Speed feedforward filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
724 Operation setting
725 )))|(% 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 10000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1ms
726 |(% colspan="8" %)Set the time constant of one delay filter related to the speed feedforward input.
727
728 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-11**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
729 |(% style="text-align:center; vertical-align:middle" %)Torque feedforward gain|(% style="text-align:center; vertical-align:middle" %)(((
730 Operation setting
731 )))|(% 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 2000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1%
732 |(% colspan="8" %)Set torque feedforward gain
733
734 (% class="table-bordered" %)
735 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-12**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**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" %)Torque feedforward filter time constant|(% style="text-align:center; vertical-align:middle" %)(((
737 Operation setting
738 )))|(% 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 10000|(% style="text-align:center; vertical-align:middle" %)Gain control|(% style="text-align:center; vertical-align:middle" %)0.1ms
739 |(% colspan="8" %)Set the time constant of one delay filter related to the torque feedforward input.
740 )))
741
742 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-13**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
743 |(% style="text-align:center" %)Delay Time for Gain Switching|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms
744 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
745 The duration of the switching condition required for the second gain to switch back to the first gain.
746
747 [[image:20230516P0213.png]]
748
749 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
750 )))
751
752 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-14**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
753 |(% style="text-align:center" %)Gain switching grade|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)50|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions
754 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
755 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
756
757 [[image:20230516P0214.png]]
758 )))
759
760 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-15**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
761 |(% style="text-align:center; width:150px" %)Gain switching hysteresis|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions
762 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
763 Set the hysteresis to meet the gain switching condition.
764
765 [[image:20230516P0215.png]]
766 )))
767
768 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-16**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
769 |(% style="text-align:center; width:150px" %)Position loop gain switching time|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)30|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms
770 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
771 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
772
773 [[image:20230516P0216.png]]
774
775 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
776 )))
777
778 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-20**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
779 |(% style="text-align:center; width:150px" %)Enable model tracking control function|(% style="text-align:center" %)Shutdown setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 1|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)
780 |(% colspan="8" %)(((
781 Set 1 to enable the model tracking control function.
782 )))
783
784 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-21**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
785 |(% style="text-align:center; width:150px" %)Model tracking control gain|(% style="text-align:center" %)Shutdown setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)1000|(% style="text-align:center" %)200 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %) 0.1/s
786 |(% colspan="8" %)(((
787 Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior.
788 )))
789
790 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-22**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
791 |(% style="text-align:center" %)Model tracking control gain compensation|(% style="text-align:center" %)Shutdown setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)1000|(% style="text-align:center" %)500 to 2000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.10%
792 |(% colspan="8" %)(((
793 The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.
794 )))
795
796 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-23**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
797 |(% style="text-align:center; width:150px" %)Model tracking control forward rotation bias|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)1000|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %) 0.10%
798 |(% colspan="8" %)(((
799 Torque feedforward size in the positive direction under model tracking control.
800 )))
801
802 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-24**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
803 |(% style="text-align:center" %)Model tracking control reverses rotation bias|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)1000|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %) 0.10%
804 |(% colspan="8" %)(((
805 Torque feedforward size in the reverse direction under model tracking control.
806 )))
807
808 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P02-25**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
809 |(% style="text-align:center" %)Model tracking control speed feedforward compensation|(% style="text-align:center" %)Operation
810 setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)1000|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %) 0.10%
811 |(% colspan="8" %)(((
812 The size of the speed feedforward under model tracking control.
813 )))
814
815 = **Group P03 Self-adjusting parameters** =
816
817 (% class="table-bordered" %)
818 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P03-01**|(% style="text-align:center; vertical-align:middle; width:214px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:192px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:164px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:67px" %)**Unit**
819 |(% style="text-align:center; vertical-align:middle; width:214px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
820 Operation setting
821 )))|(% style="text-align:center; vertical-align:middle; width:192px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)300*|(% style="text-align:center; vertical-align:middle; width:94px" %)100 to 10000|(% style="text-align:center; vertical-align:middle; width:164px" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle; width:67px" %)0.01
822 |(% colspan="8" %)(((
823 Set load inertia ratio: 0.00 to 100.00 times.
824
825 “*” indicates that the factory defaults for different models may differ.
826 )))
827
828 (% class="table-bordered" %)
829 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)**P03-02**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:176px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:181px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:116px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:152px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
830 |(% style="text-align:center; vertical-align:middle; width:243px" %)Load rigidity grade selection|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
831 Operation setting
832 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:89px" %)14*|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 31|(% style="text-align:center; vertical-align:middle; width:152px" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle" %)-
833 |(% 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.
834
835 (% class="table-bordered" %)
836 |(% 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:182px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:161px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
837 |(% style="text-align:center; vertical-align:middle; width:212px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:182px" %)(((
838 Operation setting
839 )))|(% style="text-align:center; vertical-align:middle; width:175px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 2|(% style="text-align:center; vertical-align:middle; width:161px" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle" %)-
840 |(% 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.(((
841 (% class="table-bordered" %)
842 |(% 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**
843 |(% 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.
844 |(% 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
845 |(% style="text-align:center; vertical-align:middle; width:116px" %)2|(% style="width:177px" %)Online automatic self-adjusting mode|Not implemented yet
846 )))
847
848 (% class="table-bordered" %)
849 |(% 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:76px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:105px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:135px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
850 |(% style="text-align:center; vertical-align:middle; width:283px" %)Online inertia recognition sensitivity|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
851 Operation setting
852 )))|(% style="text-align:center; vertical-align:middle; width:198px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:76px" %)0|(% style="text-align:center; vertical-align:middle; width:105px" %)0 to 2|(% style="text-align:center; vertical-align:middle; width:135px" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle" %)-
853 |(% colspan="8" %)Not implemented yet.
854
855 (% class="table-bordered" %)
856 |(% 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:98px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:140px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
857 |(% 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:98px" %)1 to 20|(% style="text-align:center; vertical-align:middle; width:140px" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle" %)Circle
858 |(% colspan="8" %)Offline load inertia recognition process, motor rotation number setting
859
860 (% class="table-bordered" %)
861 |(% 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:149px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:114px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:169px" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
862 |(% style="text-align:center; vertical-align:middle; width:247px" %)(((
863 Inertia recognition maximum speed
864 )))|(% style="text-align:center; vertical-align:middle; width:149px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:184px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:96px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)300 to 2000|(% style="text-align:center; vertical-align:middle; width:169px" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle" %)rpm
865 |(% 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.
866
867 (% class="table-bordered" %)
868 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:84px" %)**P03-07**|(% style="text-align:center; vertical-align:middle; width:280px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:191px" %)**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**
869 |(% style="text-align:center; vertical-align:middle; width:280px" %)(((
870 Parameter recognition rotation direction
871 )))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
872 Shutdown setting
873 )))|(% 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" %)Automatic parameter tuning|(% style="text-align:center; vertical-align:middle" %)-
874 |(% colspan="8" %)Set parameter recognition rotation direction(((
875 (% class="table-bordered" %)
876 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Rotation direction**
877 |(% style="text-align:center; vertical-align:middle" %)0|Forward and reverse reciprocating rotation
878 |(% style="text-align:center; vertical-align:middle" %)1|Forward one-way rotation
879 |(% style="text-align:center; vertical-align:middle" %)2|Reverse one-way rotation
880 )))
881
882 (% class="table-bordered" %)
883 |(% 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**
884 |(% style="text-align:center; vertical-align:middle" %)(((
885 Parameter recognition waiting time
886 )))|(% style="text-align:center; vertical-align:middle" %)(((
887 Shutdown setting
888 )))|(% 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
889 |(% colspan="8" %)During offline inertia recognition, the time interval between two consecutive speed instructions
890
891 = **Group P04 Vibration suppression** =
892
893 (% class="table-bordered" %)
894 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-01**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
895 |(% style="text-align:center; vertical-align:middle" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle" %)(((
896 Shutdown setting
897 )))|(% 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" %)-
898 |(% colspan="8" %)(((
899 (% class="table-bordered" %)
900 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Filtering method**
901 |(% style="text-align:center; vertical-align:middle" %)0|First-order low-pass filter
902 |(% style="text-align:center; vertical-align:middle" %)1|Average filtering
903 )))
904
905 (% class="table-bordered" %)
906 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-02**|(% style="text-align:center; vertical-align:middle; width:275px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:160px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**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" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
908 Shutdown setting
909 )))|(% 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
910 |(% colspan="8" %)Used to set position instructions first-order low-pass filtering time constant.(((
911 (% class="table-bordered" %)
912 |(% 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]]
913 |(% 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]]
914 )))
915
916 (% class="table-bordered" %)
917 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-03**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
918 |(% style="text-align:center; vertical-align:middle" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
919 Shutdown setting
920 )))|(% 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
921 |(% colspan="8" %)Used to set average filtering time constant.(((
922 (% class="table-bordered" %)
923 |(% 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]]
924 |(% 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]]
925 )))
926
927 (% class="table-bordered" %)
928 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-04**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
929 |(% 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
930 |(% 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]]__
931
932 (% class="table-bordered" %)
933 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-05**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
934 |(% style="text-align:center; vertical-align:middle" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
935 Operation setting
936 )))|(% 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
937 |(% colspan="8" %)(((
938 Set the center frequency of the 1st notch filter.
939
940 When the function code is set to 5000, the function of the notch filter is invalid.
941 )))
942
943 (% class="table-bordered" %)
944 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-06**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
945 |(% style="text-align:center; vertical-align:middle" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
946 Operation setting
947 )))|(% 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" %)-
948 |(% colspan="8" %)(((
949 Set the notch filter depth grade (the ratio between input and output at the center frequency of the notch filter)
950
951 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]]__
952 )))
953
954 (% class="table-bordered" %)
955 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-07**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
956 |(% style="text-align:center; vertical-align:middle" %)1st notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
957 Operation setting
958 )))|(% 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" %)-
959 |(% colspan="8" %)Set the notch filter width grade (the ratio between input and output at the center frequency of the notch filter)
960
961 (% class="table-bordered" %)
962 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-08**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
963 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
964 Operation setting
965 )))|(% 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
966 |(% colspan="8" %)(((
967 Set the center frequency of the 1st notch filter.
968
969 When the function code is set to 5000, the function of the notch filter is invalid.
970 )))
971
972 (% class="table-bordered" %)
973 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-09**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
974 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
975 Operation setting
976 )))|(% 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" %)-
977
978 (% class="table-bordered" %)
979 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-10**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**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" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
981 Operation setting
982 )))|(% 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" %)-
983
984 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-11**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**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" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle" %)(((
986 Operation setting
987 )))|(% 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 1|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)
988 |(% colspan="8" %)(((
989 When the function code is set to 1, enable the low-frequency vibration suppression function.
990 )))
991
992 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-12**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
993 |(% style="text-align:center; vertical-align:middle" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
994 Operation setting
995 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle" %)10 to 2000|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.1HZ
996 |(% colspan="8" %)(((
997 Set the center frequency of the 1st notch filter.
998
999 When the function code is set to 5000, the function of the notch filter is invalid.
1000 )))
1001
1002 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-14**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1003 |(% style="text-align:center; vertical-align:middle" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle" %)(((
1004 Operation setting
1005 )))|(% 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" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.001
1006 |(% colspan="8" %)(((
1007 When the vibration amplitude is greater than detection amplitude ratio, the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity. The function code is set too large or too small to affect the recognition of the vibration frequency.
1008 )))
1009
1010 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-18**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1011 |(% style="text-align:center; vertical-align:middle" %)Speed feedback filtering time|(% style="text-align:center; vertical-align:middle" %)(((
1012 Operation setting
1013 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)40|(% style="text-align:center; vertical-align:middle" %)20 to 1000|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.01ms
1014 |(% colspan="8" %)(((
1015 Wave filtering of the feedback speed of the encoder. When the filtering time is set large, it may cause the motor to vibrate.
1016 )))
1017
1018 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-19**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1019 |(% style="text-align:center; vertical-align:middle" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle" %)(((
1020 Operation setting
1021 )))|(% 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" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)
1022 |(% colspan="8" %)(((
1023 When the function code is set to 1, enable the type A suppression function.
1024 )))
1025
1026 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-20**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1027 |(% style="text-align:center; vertical-align:middle" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
1028 Operation setting
1029 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1000|(% style="text-align:center; vertical-align:middle" %)100 to 20000|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.1HZ
1030 |(% colspan="8" %)(((
1031 Set the frequency of Type A suppression.
1032 )))
1033
1034 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-21**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1035 |(% style="text-align:center; vertical-align:middle" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle" %)(((
1036 Operation setting
1037 )))|(% 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 1000|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.01
1038 |(% colspan="8" %)(((
1039 Correct the load inertia ratio size.
1040 )))
1041
1042 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-22**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1043 |(% style="text-align:center; vertical-align:middle" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle" %)(((
1044 Operation setting
1045 )))|(% 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 500|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.01
1046 |(% colspan="8" %)(((
1047 The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.
1048 )))
1049
1050 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P04-23**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1051 |(% style="text-align:center; vertical-align:middle" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle" %)(((
1052 Operation setting
1053 )))|(% 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 900|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)0.1 degree
1054 |(% colspan="8" %)(((
1055 Type A suppression phase compensation.
1056 )))
1057
1058 = **Group P05 Signal input and output** =
1059
1060 (% class="table-bordered" %)
1061 |(% 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**
1062 |(% 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
1063 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1064 Set AI_1 channel analog bias value
1065
1066 [[image:image-20220608160946-7.png]]
1067
1068 “☆” indicates that the VD2F servo drive does not support this function code.
1069 )))
1070
1071 (% class="table-bordered" %)
1072 |(% 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**
1073 |(% 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
1074 |(% colspan="8" %)(((
1075 Set AI_1 channel input first-order low-pass filter time constant
1076
1077 “☆” indicates that the VD2F servo drive does not support this function code.
1078 )))
1079
1080 (% class="table-bordered" %)
1081 |(% 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**
1082 |(% 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
1083 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1084 Set AI_1 channel analog quantity dead zone value. “Dead zone” is the input voltage interval when the sample voltage is 0.
1085
1086 [[image:image-20220608161112-8.png]]
1087
1088 “☆” indicates that the VD2F servo drive does not support this function code.
1089 )))
1090
1091 (% class="table-bordered" %)
1092 |(% 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**
1093 |(% 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
1094 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1095 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.
1096
1097 [[image:image-20220608161203-9.png]]
1098
1099 “☆” indicates that the VD2F servo drive does not support this function code.
1100 )))
1101
1102 (% class="table-bordered" %)
1103 |(% 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**
1104 |(% 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
1105 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1106
1107 (% class="table-bordered" %)
1108 |(% 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**
1109 |(% 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
1110 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1111
1112 (% class="table-bordered" %)
1113 |(% 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**
1114 |(% 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
1115 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1116
1117 (% class="table-bordered" %)
1118 |(% 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**
1119 |(% 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
1120 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1121
1122 (% class="table-bordered" %)
1123 |(% 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**
1124 |(% 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
1125 |(% colspan="8" %)(((
1126 Set the speed value corresponding to the analog 10V
1127
1128 (% class="table-bordered" %)
1129 |(% 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**
1130 |(% 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]]
1131
1132 Given speed = sampling voltage / 10 * (P05-09)
1133
1134 “☆” indicates that the VD2F servo drive does not support this function code.
1135 )))
1136
1137 (% class="table-bordered" %)
1138 |(% 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**
1139 |(% 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%
1140 |(% colspan="8" %)(((
1141 Set the torque value corresponding to the analog 10V
1142
1143 (% class="table-bordered" %)
1144 |(% 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**
1145 |(% 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]]
1146
1147 Given torque= sampling voltage / 10 * (P05-10)
1148
1149 “☆” indicates that the VD2F servo drive does not support this function code.
1150 )))
1151
1152 (% class="table-bordered" %)
1153 |(% 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**
1154 |(% 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" %)-
1155 |(% colspan="8" %)(((
1156 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.
1157
1158 (% class="table-bordered" %)
1159 |(% style="text-align:center; vertical-align:middle; width:88px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:1095px" %)**Output condition**
1160 |(% 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
1161 |(% 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
1162 |(% 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
1163 |(% 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
1164
1165 “☆” indicates that the VD2F servo drive does not support this function code.
1166 )))
1167
1168 (% class="table-bordered" %)
1169 |(% 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**
1170 |(% 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
1171 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning completion signal
1172
1173 (% class="table-bordered" %)
1174 |(% 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**
1175 |(% 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
1176 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning approach signal
1177
1178 (% class="table-bordered" %)
1179 |(% 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**
1180 |(% 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
1181 |(% colspan="8" %)Set the detection window time for positioning completion
1182
1183 (% class="table-bordered" %)
1184 |(% 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**
1185 |(% 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
1186 |(% 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)
1187
1188 (% class="table-bordered" %)
1189 |(% 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**
1190 |(% 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
1191 |(% 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]]__
1192
1193 (% class="table-bordered" %)
1194 |(% 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**
1195 |(% 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
1196 |(% 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]]__
1197
1198 (% class="table-bordered" %)
1199 |(% 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**
1200 |(% 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
1201 |(% 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]]__
1202
1203 (% class="table-bordered" %)
1204 |(% 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**
1205 |(% 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
1206 |(% 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]]__
1207
1208 (% class="table-bordered" %)
1209 |(% 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**
1210 |(% 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" %)%
1211 |(% 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]]__
1212
1213 (% class="table-bordered" %)
1214 |(% 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**
1215 |(% 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" %)%
1216 |(% 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]]__
1217
1218 = **Group P06 DI/DO configuration** =
1219
1220 (% class="table-bordered" %)
1221 |(% 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**
1222 |(% 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" %)-
1223 |(% colspan="8" %)(((
1224 Set DI functions corresponding to hardware DI_1. The related functions are as below.
1225
1226 (% class="table-bordered" %)
1227 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:338px" %)**DI channel function**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:492px" %)**DI channel function**
1228 |(% style="text-align:center; vertical-align:middle" %)0|(% style="width:338px" %)Off (not used)|(% style="text-align:center; vertical-align:middle; width:119px" %)13|(% style="width:492px" %)INSPD1 (Internal speed instruction selection 1)
1229 |(% style="text-align:center; vertical-align:middle" %)1|(% style="width:338px" %)S-ON (Servo enable)|(% style="text-align:center; vertical-align:middle; width:119px" %)14|(% style="width:492px" %)INSPD2 (Internal speed instruction selection 2)
1230 |(% style="text-align:center; vertical-align:middle" %)2|(% style="width:338px" %)A-CLR (Fault and warning clear)|(% style="text-align:center; vertical-align:middle; width:119px" %)15|(% style="width:492px" %)INSPD3 (Internal speed instruction selection 3)
1231 |(% style="text-align:center; vertical-align:middle" %)3|(% style="width:338px" %)POT (Forward drive prohibition)|(% style="text-align:center; vertical-align:middle; width:119px" %)16|(% style="width:492px" %)J-SEL Inertia ratio switch (not implemented yet)
1232 |(% style="text-align:center; vertical-align:middle" %)4|(% style="width:338px" %)NOT (Reverse drive prohibition)|(% style="text-align:center; vertical-align:middle; width:119px" %)17|(% style="width:492px" %)MixModeSel Mix mode selection
1233 |(% style="text-align:center; vertical-align:middle" %)5|(% style="width:338px" %)ZCLAMP (Zero-speed clamp)|(% style="text-align:center; vertical-align:middle; width:119px" %)18|(% style="width:492px" %)None
1234 |(% style="text-align:center; vertical-align:middle" %)6|(% style="width:338px" %)CL (Clear deviation counter)|(% style="text-align:center; vertical-align:middle; width:119px" %)19|(% style="width:492px" %)None
1235 |(% style="text-align:center; vertical-align:middle" %)7|(% style="width:338px" %)C-SIGN (instruction is reversed)|(% style="text-align:center; vertical-align:middle; width:119px" %)20|(% style="width:492px" %)ENINPOS (Internal multi-segment enable signal)
1236 |(% style="text-align:center; vertical-align:middle" %)8|(% style="width:338px" %)E-STOP (Emergency stop)|(% style="text-align:center; vertical-align:middle; width:119px" %)21|(% style="width:492px" %)(((
1237 INPOS1 (Internal multi-segment position selection 1)
1238 )))
1239 |(% style="text-align:center; vertical-align:middle" %)9|(% style="width:338px" %)GEAR-SEL (Electronic Gear Switch 1)|(% style="text-align:center; vertical-align:middle; width:119px" %)22|(% style="width:492px" %)(((
1240 INPOS2 (Internal multi-segment position selection 2)
1241 )))
1242 |(% style="text-align:center; vertical-align:middle" %)10|(% style="width:338px" %)GAIN-SEL (Gain switch)|(% style="text-align:center; vertical-align:middle; width:119px" %)23|(% style="width:492px" %)(((
1243 INPOS3 (Internal multi-segment position selection 3)
1244 )))
1245 |(% style="text-align:center; vertical-align:middle" %)11|(% style="width:338px" %)INH (Instruction pulse prohibited input)|(% style="text-align:center; vertical-align:middle; width:119px" %)24|(% style="width:492px" %)(((
1246 INPOS4 (Internal multi-segment position selection 4)
1247 )))
1248 |(% style="text-align:center; vertical-align:middle" %)12|(% style="width:338px" %)VSSEL (Vibration control switching input)|(% style="text-align:center; vertical-align:middle; width:119px" %)-|(% style="width:492px" %)-
1249
1250 If P06-02 is set to a value other than that in the table above, the DI port function is not required.
1251
1252 The same DI channel function could not be allocated to multiple DI ports, otherwise servo drive will occur A-89 (DI port configuration duplication)
1253 )))
1254
1255 (% class="table-bordered" %)
1256 |(% 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**
1257 |(% 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" %)-
1258 |(% colspan="8" %)DI port input logic validity function selection(((
1259 (% class="table-bordered" %)
1260 |(% 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**
1261 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)(((
1262 Normally open input.
1263
1264 Active low level (switch on)
1265 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161925-12.png]]
1266 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)(((
1267 Normally closed input.
1268
1269 Active high level (switch off)
1270 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608162007-13.png]]
1271 )))
1272
1273 (% class="table-bordered" %)
1274 |(% 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**
1275 |(% 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" %)-
1276 |(% colspan="8" %)Select the enabled DI_1 port type(((
1277 (% class="table-bordered" %)
1278 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1279 |(% style="text-align:center; vertical-align:middle" %)0|Hardware DI_1 input terminal
1280 |(% style="text-align:center; vertical-align:middle" %)1|Virtual VDI_1 input terminal
1281 )))
1282
1283 (% class="table-bordered" %)
1284 |(% 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**
1285 |(% 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" %)-
1286
1287 (% class="table-bordered" %)
1288 |(% 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**
1289 |(% 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" %)-
1290
1291 (% class="table-bordered" %)
1292 |(% 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**
1293 |(% 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" %)-
1294
1295 (% class="table-bordered" %)
1296 |(% 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**
1297 |(% 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" %)-
1298
1299 (% class="table-bordered" %)
1300 |(% 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**
1301 |(% 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" %)-
1302
1303 (% class="table-bordered" %)
1304 |(% 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**
1305 |(% 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" %)-
1306
1307 (% class="table-bordered" %)
1308 |(% 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**
1309 |(% 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" %)-
1310
1311 (% class="table-bordered" %)
1312 |(% 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**
1313 |(% 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" %)-
1314
1315 (% class="table-bordered" %)
1316 |(% 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**
1317 |(% 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" %)-
1318
1319 (% class="table-bordered" %)
1320 |(% 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**
1321 |(% 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" %)-
1322
1323 “☆” indicates that the VD2F servo drive does not support this function code.
1324
1325 (% class="table-bordered" %)
1326 |(% 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**
1327 |(% 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" %)-
1328
1329 “☆” indicates that the VD2F servo drive does not support this function code.
1330
1331 (% class="table-bordered" %)
1332 |(% 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**
1333 |(% 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" %)-
1334
1335 “☆” indicates that the VD2F servo drive does not support this function code.
1336
1337 (% class="table-bordered" %)
1338 |(% 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**
1339 |(% 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" %)-
1340
1341 “☆” indicates that the VD2F servo drive does not support this function code.
1342
1343 (% class="table-bordered" %)
1344 |(% 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**
1345 |(% 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" %)-
1346
1347 “☆” indicates that the VD2F servo drive does not support this function code.
1348
1349 (% class="table-bordered" %)
1350 |(% 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**
1351 |(% 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" %)-
1352
1353 “☆” indicates that the VD2F servo drive does not support this function code.
1354
1355 (% class="table-bordered" %)
1356 |(% 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**
1357 |(% 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" %)-
1358
1359 “☆” indicates that the VD2F servo drive does not support this function code.
1360
1361 (% class="table-bordered" %)
1362 |(% 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**
1363 |(% 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" %)-
1364
1365 “☆” indicates that the VD2F servo drive does not support this function code.
1366
1367 (% class="table-bordered" %)
1368 |(% 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**
1369 |(% 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" %)-
1370
1371 “☆” indicates that the VD2F servo drive does not support this function code.
1372
1373 (% class="table-bordered" %)
1374 |(% 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**
1375 |(% 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" %)-
1376
1377 “☆” indicates that the VD2F servo drive does not support this function code.
1378
1379 (% class="table-bordered" %)
1380 |(% 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**
1381 |(% 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" %)-
1382
1383 “☆” indicates that the VD2F servo drive does not support this function code.
1384
1385 (% class="table-bordered" %)
1386 |(% 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**
1387 |(% 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" %)-
1388
1389 “☆” indicates that the VD2F servo drive does not support this function code.
1390
1391 (% class="table-bordered" %)
1392 |(% 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**
1393 |(% 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" %)-
1394 |(% colspan="8" %)(((
1395 Set DO functions corresponding to hardware DO_1. The related functions are as below.
1396
1397 (% class="table-bordered" %)
1398 |(% 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
1399 |(% 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)
1400 |(% 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)
1401 |(% 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)**✎**
1402 |(% 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)
1403 |(% 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)
1404 |(% 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
1405 |(% 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)
1406 |(% 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)
1407 |(% 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)
1408 |(% 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)
1409 |(% 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" %)
1410
1411 If P06-26 is set to a value other than that in the preceding table, the DO port function is not required
1412
1413 The same DO channel function could not be allocated to multiple DO ports, otherwise servo drive will occur A-90 (DO port configuration duplication)
1414
1415 “✎” means use the function code BRK-OFF would be effective after power on again.
1416
1417 ✎**Note:** Only VD2F supports 143: OZ (Z pulse output). The function of VD2-0SA1G is empty.
1418 )))
1419
1420 (% class="table-bordered" %)
1421 |(% 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**
1422 |(% 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" %)-
1423 |(% colspan="8" %)DO Port input logic validity function selection.(((
1424 (% class="table-bordered" %)
1425 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1426 |(% 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.
1427 |(% 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.
1428 )))
1429
1430 (% class="table-bordered" %)
1431 |(% 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**
1432 |(% 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" %)-
1433
1434 (% class="table-bordered" %)
1435 |(% 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**
1436 |(% 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" %)-
1437
1438 (% class="table-bordered" %)
1439 |(% 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**
1440 |(% 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" %)-
1441
1442 (% class="table-bordered" %)
1443 |(% 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**
1444 |(% 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" %)-
1445
1446 (% class="table-bordered" %)
1447 |(% 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**
1448 |(% 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" %)-
1449
1450 (% class="table-bordered" %)
1451 |(% 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**
1452 |(% 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" %)-
1453
1454 = **Group P07 multi-segment position** =
1455
1456 (% class="table-bordered" %)
1457 |(% 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**
1458 |(% 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" %)-
1459 |(% colspan="8" %)(((
1460 When servo is in position mode, and P01-06 (position instruction source) =1, set the operation mode of multi-segment position
1461
1462 (% class="table-bordered" %)
1463 |(% 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**
1464 |(% style="text-align:center; vertical-align:middle" %)0|Single running|Stop after running one round. The segment number automatic increment switching.
1465 |(% style="text-align:center; vertical-align:middle" %)1|Cycle running|Cycle running. The segment number automatic increment switching.
1466 |(% 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
1467
1468 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"]]__
1469 )))
1470
1471 (% class="table-bordered" %)
1472 |(% 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**
1473 |(% style="text-align:center; vertical-align:middle" %)(((
1474 Starting position number
1475 )))|(% 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" %)-
1476 |(% colspan="8" %)(((
1477 Set the starting segment number in single running or cycle running.
1478
1479 When P07-01≠2, the segment number automatic increment switching.
1480
1481 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.
1482
1483 If DI terminal logic is valid, the value of internal multi-segment position segment selection is 1, otherwise it is 0.
1484
1485 (% class="table-bordered" %)
1486 |(% 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**
1487 |(% 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
1488 |(% 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
1489 |(% 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
1490 |(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
1491 |(% 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
1492 )))
1493
1494 (% class="table-bordered" %)
1495 |(% rowspan="2" %)**P07-03**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
1496 |(((
1497 End position number
1498 )))|Shutdown setting|Effective immediately|1|1 to 16|-|-
1499 |(% colspan="8" %)(((
1500 Set the end segment number in single running or cycle running.
1501
1502 When P07-01≠2, the segment number automatic increment switching. The switching sequence is: P07-02, ……, P07-03.
1503 )))
1504
1505 (% class="table-bordered" %)
1506 |(% 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**
1507 |(% style="text-align:center; vertical-align:middle" %)(((
1508 Margin handling method
1509 )))|(% 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" %)-
1510 |(% colspan="8" %)(((
1511 The starting segment number used for the servo drive will run when it resumes after pausing in multi-segment.
1512
1513 “Pause” indicates that internal multi-segment position enable signal changes from valid to invalid.
1514
1515 (% class="table-bordered" %)
1516 |(% 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**
1517 |(% 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.
1518 |(% 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
1519
1520 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__
1521 )))
1522
1523 (% class="table-bordered" %)
1524 |(% 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**
1525 |(% 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" %)-
1526 |(% 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.(((
1527 (% class="table-bordered" %)
1528 |(% 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**
1529 |(% 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.
1530 |(% 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
1531 )))
1532
1533 (% class="table-bordered" %)
1534 |(% 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**
1535 |(% style="text-align:center; vertical-align:middle" %)(((
1536 Waiting time unit
1537 )))|(% 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" %)-
1538 |(% 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.(((
1539 (% class="table-bordered" %)
1540 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Waiting time unit**
1541 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)ms
1542 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)s
1543 )))
1544
1545 (% class="table-bordered" %)
1546 |(% 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**
1547 |(% 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" %)-
1548 |(% colspan="8" %)Set the 1st segment position displacement
1549
1550 (% class="table-bordered" %)
1551 |(% 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**
1552 |(% 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
1553 |(% 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.
1554
1555 (% class="table-bordered" %)
1556 |(% 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**
1557 |(% 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
1558 |(% 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.
1559
1560 (% class="table-bordered" %)
1561 |(% 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**
1562 |(% 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
1563 |(% 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
1564
1565 (% class="table-bordered" %)
1566 |(% 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**
1567 |(% style="text-align:center; vertical-align:middle" %)(((
1568 The 2nd segment displacement
1569 )))|(% 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" %)-
1570
1571 (% class="table-bordered" %)
1572 |(% 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**
1573 |(% 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
1574
1575 (% class="table-bordered" %)
1576 |(% 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**
1577 |(% 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
1578
1579 (% class="table-bordered" %)
1580 |(% 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**
1581 |(% 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
1582
1583 (% class="table-bordered" %)
1584 |(% 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**
1585 |(% style="text-align:center; vertical-align:middle" %)(((
1586 The 3rd segment displacement
1587 )))|(% 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" %)-
1588
1589 (% class="table-bordered" %)
1590 |(% 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**
1591 |(% 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
1592
1593 (% class="table-bordered" %)
1594 |(% 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**
1595 |(% 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
1596
1597 (% class="table-bordered" %)
1598 |(% 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**
1599 |(% 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
1600
1601 (% class="table-bordered" %)
1602 |(% 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**
1603 |(% style="text-align:center; vertical-align:middle" %)(((
1604 The 4th segment displacement
1605 )))|(% 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" %)-
1606
1607 (% class="table-bordered" %)
1608 |(% 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**
1609 |(% 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
1610
1611 (% class="table-bordered" %)
1612 |(% 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**
1613 |(% 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
1614
1615 (% class="table-bordered" %)
1616 |(% 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**
1617 |(% 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
1618
1619 (% class="table-bordered" %)
1620 |(% 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**
1621 |(% style="text-align:center; vertical-align:middle; width:229px" %)(((
1622 The 5th segment displacement
1623 )))|(% 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" %)-
1624
1625 (% class="table-bordered" %)
1626 |(% 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**
1627 |(% 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
1628
1629 (% class="table-bordered" %)
1630 |(% 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**
1631 |(% 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
1632
1633 (% class="table-bordered" %)
1634 |(% 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**
1635 |(% 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
1636
1637 (% class="table-bordered" %)
1638 |(% 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**
1639 |(% style="text-align:center; vertical-align:middle; width:241px" %)(((
1640 The 6th segment displacement
1641 )))|(% 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" %)-
1642
1643 (% class="table-bordered" %)
1644 |(% 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**
1645 |(% 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
1646
1647 (% class="table-bordered" %)
1648 |(% 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**
1649 |(% 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
1650
1651 (% class="table-bordered" %)
1652 |(% 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**
1653 |(% 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
1654
1655 (% class="table-bordered" %)
1656 |(% 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**
1657 |(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1658 The 7th segment displacement
1659 )))|(% 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" %)-
1660
1661 (% class="table-bordered" %)
1662 |(% 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**
1663 |(% 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
1664
1665 (% class="table-bordered" %)
1666 |(% 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**
1667 |(% 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
1668
1669 (% class="table-bordered" %)
1670 |(% 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**
1671 |(% 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
1672
1673 (% class="table-bordered" %)
1674 |(% 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**
1675 |(% style="text-align:center; vertical-align:middle; width:170px" %)(((
1676 The 8th segment displacement
1677 )))|(% 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" %)-
1678
1679 (% class="table-bordered" %)
1680 |(% 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**
1681 |(% 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
1682
1683 (% class="table-bordered" %)
1684 |(% 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**
1685 |(% 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
1686
1687 (% class="table-bordered" %)
1688 |(% 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**
1689 |(% 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
1690
1691 (% class="table-bordered" %)
1692 |(% 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**
1693 |(% style="text-align:center; vertical-align:middle; width:259px" %)(((
1694 The 9th segment displacement
1695 )))|(% 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" %)-
1696
1697 (% class="table-bordered" %)
1698 |(% 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**
1699 |(% 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
1700
1701 (% class="table-bordered" %)
1702 |(% 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**
1703 |(% 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
1704
1705 (% class="table-bordered" %)
1706 |(% 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**
1707 |(% 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
1708
1709 (% class="table-bordered" %)
1710 |(% 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**
1711 |(% style="text-align:center; vertical-align:middle; width:265px" %)(((
1712 The 10th segment displacement
1713 )))|(% 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" %)-
1714
1715 (% class="table-bordered" %)
1716 |(% 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**
1717 |(% 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
1718
1719 (% class="table-bordered" %)
1720 |(% 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**
1721 |(% 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
1722
1723 (% class="table-bordered" %)
1724 |(% 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**
1725 |(% 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
1726
1727 (% class="table-bordered" %)
1728 |(% 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**
1729 |(% style="text-align:center; vertical-align:middle; width:233px" %)(((
1730 The 11th segment displacement
1731 )))|(% 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" %)-
1732
1733 (% class="table-bordered" %)
1734 |(% 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**
1735 |(% 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
1736
1737 (% class="table-bordered" %)
1738 |(% 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**
1739 |(% 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
1740
1741 (% class="table-bordered" %)
1742 |(% 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**
1743 |(% 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
1744
1745 (% class="table-bordered" %)
1746 |(% 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**
1747 |(% style="text-align:center; vertical-align:middle" %)(((
1748 The 12th segment displacement
1749 )))|(% 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" %)-
1750
1751 (% class="table-bordered" %)
1752 |(% 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**
1753 |(% 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
1754
1755 (% class="table-bordered" %)
1756 |(% 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**
1757 |(% 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
1758
1759 (% class="table-bordered" %)
1760 |(% 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**
1761 |(% 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
1762
1763 (% class="table-bordered" %)
1764 |(% 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**
1765 |(% style="text-align:center; vertical-align:middle; width:252px" %)(((
1766 The 13th segment displacement
1767 )))|(% 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" %)-
1768
1769 (% class="table-bordered" %)
1770 |(% 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**
1771 |(% 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
1772
1773 (% class="table-bordered" %)
1774 |(% 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**
1775 |(% 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
1776
1777 (% class="table-bordered" %)
1778 |(% 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**
1779 |(% 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
1780
1781 (% class="table-bordered" %)
1782 |(% 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**
1783 |(% style="text-align:center; vertical-align:middle" %)(((
1784 The 14th segment displacement
1785 )))|(% 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" %)-
1786
1787 (% class="table-bordered" %)
1788 |(% 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**
1789 |(% 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
1790
1791 (% class="table-bordered" %)
1792 |(% 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**
1793 |(% 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
1794
1795 (% class="table-bordered" %)
1796 |(% 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**
1797 |(% 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
1798
1799 (% class="table-bordered" %)
1800 |(% 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**
1801 |(% style="text-align:center; vertical-align:middle; width:242px" %)(((
1802 The 15th segment displacement
1803 )))|(% 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" %)-
1804
1805 (% class="table-bordered" %)
1806 |(% 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**
1807 |(% 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
1808
1809 (% class="table-bordered" %)
1810 |(% 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**
1811 |(% 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
1812
1813 (% class="table-bordered" %)
1814 |(% 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**
1815 |(% 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
1816
1817 (% class="table-bordered" %)
1818 |(% 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**
1819 |(% style="text-align:center; vertical-align:middle; width:231px" %)(((
1820 The 16th segment displacement
1821 )))|(% 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" %)-
1822
1823 (% class="table-bordered" %)
1824 |(% 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**
1825 |(% 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
1826
1827 (% class="table-bordered" %)
1828 |(% 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**
1829 |(% 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
1830
1831 (% class="table-bordered" %)
1832 |(% 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**
1833 |(% 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
1834
1835 = **Group P10 Accessibility** =
1836
1837 (% class="table-bordered" %)
1838 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-01**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1839 |(% 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
1840 |(% colspan="8" %)Used to set JOG speed
1841
1842 (% class="table-bordered" %)
1843 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-02**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1844 |(% 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" %)-
1845 |(% colspan="8" %)Write 1 to factory reset
1846
1847 (% class="table-bordered" %)
1848 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-03**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1849 |(% 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" %)-
1850 |(% colspan="8" %)(((
1851 Fault reset operation selection
1852
1853 (% class="table-bordered" %)
1854 |(% 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**
1855 |(% style="text-align:center; vertical-align:middle; width:96px" %)0|(% style="width:138px" %)No operation|(% style="width:926px" %)-
1856 |(% 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.
1857
1858 ✎**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.
1859 )))
1860
1861 (% class="table-bordered" %)
1862 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-04**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1863 |(% 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" %)%
1864 |(% colspan="8" %)(((
1865 Set the time for code A-82 (Motor overload warning) and Er.34 (Motor overload protection fault) through this function code.
1866
1867 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.
1868 )))
1869
1870 (% class="table-bordered" %)
1871 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-05**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1872 |(% 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" %)-
1873 |(% colspan="8" %)(((
1874 This function code displays the motor code code of the motor currently recognized by the servo drive (including the last successful recognition).
1875
1876 ✎**Note:** It is necessary to connect the motor first, and then power on the drive. Otherwise, it will report “Er.27” (encoder disconnection fault) .
1877 )))
1878
1879 (% class="table-bordered" %)
1880 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-06**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1881 |(% 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" %)-
1882 |(% colspan="8" %)(((
1883 Used to clear the rotation number of multi-turn absolute encoder (U0-55), current position (U0-56) or clear the encoder fault alarms
1884
1885 (% class="table-bordered" %)
1886 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Function**
1887 |(% style="text-align:center; vertical-align:middle" %)0|No operation;
1888 |(% style="text-align:center; vertical-align:middle" %)1|Clear multi-turn data, encoder current position and encoder fault alarms
1889
1890 ✎**Note:** After resetting (P10-06 is set to 1), the absolute position of the encoder will change suddenly, and the mechanical origin return operation is required.
1891 )))
1892
1893 (% class="table-bordered" %)
1894 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:90px" %)**P10-07**|(% style="text-align:center; vertical-align:middle; width:250px" %)**Parameter name**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:220px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Default**|(% style="text-align:center; vertical-align:middle; width:150px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1895 |(% style="text-align:center; vertical-align:middle" %)Set machine code manually|(% 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 1|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)-
1896 |(% colspan="8" %)(((
1897 This function code modifies the motor code code of the servo drive. When set to 0, the motor code is read from the motor side; when set to 1, the motor code is read from the P10-5 motor model.
1898
1899 **✎Note:** Please do not modify the motor code code arbitrarily, otherwise, the motor may be damaged.
1900 )))
1901
1902 = **Group P12 Communication parameters** =
1903
1904 (% class="table-bordered" %)
1905 |(% 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**
1906 |(% 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" %)-
1907 |(% colspan="8" %)Set the Modbus communication address of servo drive
1908
1909 (% class="table-bordered" %)
1910 |(% 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**
1911 |(% 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" %)-
1912 |(% 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.(((
1913 (% class="table-bordered" %)
1914 |(% 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**
1915 |(% 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
1916 |(% 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
1917 |(% 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
1918 )))
1919
1920 (% class="table-bordered" %)
1921 |(% 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**
1922 |(% 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" %)-
1923 |(% 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.(((
1924 (% class="table-bordered" %)
1925 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Data format**
1926 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1 stop bit, no parity
1927 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 stop bit, odd parity
1928 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1 stop bit, even parity
1929 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2 stop bits, no parity
1930 )))
1931
1932 (% class="table-bordered" %)
1933 |(% 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**
1934 |(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1935 Write Modbus communication data to EEPROM
1936 )))|(% 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" %)-
1937 |(% colspan="8" %)(((
1938 Whether the function code written by the communication method is saved to EEPRO
1939
1940 (% class="table-bordered" %)
1941 |(% 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**
1942 |(% style="text-align:center; vertical-align:middle" %)0|Do not write to EEPROM, and do not save data after power failure;
1943 |(% style="text-align:center; vertical-align:middle" %)1|Write to EEPROM, and save data after power failure;
1944
1945 ✎**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.
1946 )))
1947
1948 (% class="table-bordered" %)
1949 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1950 **P12-05**
1951
1952 ☆
1953 )))|(% 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**
1954 |(% 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" %)-
1955 |(% colspan="8" %)(((
1956 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)
1957
1958 (% class="table-bordered" %)
1959 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Communication method**
1960 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)RS422 communication
1961 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)RS485 communication
1962
1963 ✎**Note:** **“☆”** indicates that only VD2F servo drive support this function code. The VD2-0XXSA1G model does not have this function code.
1964 )))
1965
1966 = **Group P13 Communication input and output terminal** =
1967
1968 (% class="table-bordered" %)
1969 |(% 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**
1970 |(% 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" %)-
1971 |(% colspan="8" %)When P06-04 is set to 1, DI_1 channel logic is controlled by this function code.(((
1972 (% class="table-bordered" %)
1973 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDI_1 input level**
1974 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
1975 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
1976 )))
1977
1978 (% class="table-bordered" %)
1979 |(% 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**
1980 |(% 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" %)-
1981 |(% colspan="8" %)When P06-07 is set to 1, DI_2 channel logic is controlled by this function code.
1982
1983 (% class="table-bordered" %)
1984 |(% 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**
1985 |(% 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" %)-
1986 |(% colspan="8" %)When P06-10 is set to 1, DI_3 channel logic is controlled by this function code.
1987
1988 (% class="table-bordered" %)
1989 |(% 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**
1990 |(% 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" %)-
1991 |(% colspan="8" %)When P06-13 is set to 1, DI_4 channel logic is controlled by this function code.
1992
1993 (% class="table-bordered" %)
1994 |(% 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**
1995 |(% 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" %)-
1996 |(% colspan="8" %)When P06-16 is set to 1, DI_5 channel logic is controlled by this function code.
1997
1998 (% class="table-bordered" %)
1999 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2000 **P13-06**
2001
2002 ☆
2003 )))|(% 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**
2004 |(% 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" %)-
2005 |(% colspan="8" %)(((
2006 When P06-19 is set to 1, DI_6 channel logic is controlled by this function code.
2007
2008 “☆” indicates that the VD2F servo drive does not support this function code.
2009 )))
2010
2011 (% class="table-bordered" %)
2012 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2013 **P13-07**
2014
2015 ☆
2016 )))|(% 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**
2017 |(% 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" %)-
2018 |(% colspan="8" %)(((
2019 When P06-22 is set to 1, DI_7 channel logic is controlled by this function code.
2020
2021 “☆” indicates that the VD2F servo drive does not support this function code.
2022 )))
2023
2024 (% class="table-bordered" %)
2025 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2026 **P13-08**
2027
2028 ☆
2029 )))|(% 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**
2030 |(% 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" %)-
2031 |(% colspan="8" %)(((
2032 When P06-25 is set to 1, DI_8 channel logic is controlled by this function code.
2033
2034 “☆” indicates that the VD2F servo drive does not support this function code.
2035 )))
2036
2037 (% class="table-bordered" %)
2038 |(% 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**
2039 |(% 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" %)-
2040 |(% colspan="8" %)Used to set the input level logic when the DO function selected by VDO_1 is valid(((
2041 (% class="table-bordered" %)
2042 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDo_1 input level**
2043 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
2044 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
2045 )))
2046
2047 (% class="table-bordered" %)
2048 |(% 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**
2049 |(% 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" %)-
2050
2051 (% class="table-bordered" %)
2052 |(% 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**
2053 |(% 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" %)-
2054
2055 (% class="table-bordered" %)
2056 |(% 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**
2057 |(% 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" %)-
2058
2059 = **Group U0 Universal monitoring** =
2060
2061 (% class="table-bordered" %)
2062 |(% 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**
2063 |(% 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
2064 |(% colspan="7" %)Display the status of servo drive.(((
2065 (% class="table-bordered" %)
2066 |(% 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**
2067 |(% 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
2068 |(% 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
2069 )))
2070
2071 (% class="table-bordered" %)
2072 |(% 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**
2073 |(% 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
2074 |(% colspan="7" %)Display the actual speed of servo drive. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
2075 (% class="table-bordered" %)
2076 |(% style="text-align:center; vertical-align:middle; width:576px" %)500 rpm display|(% style="text-align:center; vertical-align:middle; width:584px" %)-500 rpm display
2077 |(% 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]]
2078 )))
2079
2080 (% class="table-bordered" %)
2081 |(% 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**
2082 |(% 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
2083 |(% colspan="7" %)Display input speed instruction. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
2084 (% class="table-bordered" %)
2085 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
2086 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163722-1.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163726-2.jpeg]]
2087 )))
2088
2089 (% class="table-bordered" %)
2090 |(% 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**
2091 |(% 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
2092 |(% 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.(((
2093 (% class="table-bordered" %)
2094 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
2095 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160850-3.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160859-4.jpeg]]
2096 )))
2097
2098 (% class="table-bordered" %)
2099 |(% 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**
2100 |(% 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" %)(((
2101 Equivalent pulse deviation
2102 )))|(% style="text-align:center; vertical-align:middle" %)32-bit
2103 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2104 Display pulse deviation. If U0-05 is set to 32768, the display of servo drive panel is as below.
2105
2106 [[image:image-20220608162142-14.png]]
2107 )))
2108
2109 (% class="table-bordered" %)
2110 |(% 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**
2111 |(% 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
2112 |(% colspan="7" %)Display the input instruction pulse frequency of servo drive.
2113
2114 (% class="table-bordered" %)
2115 |(% 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**
2116 |(% 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" %)(((
2117 Equivalent pulse deviation
2118 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)32-bit
2119 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2120 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.
2121
2122 [[image:image-20220608162219-15.png]]
2123 )))
2124
2125 (% class="table-bordered" %)
2126 |(% 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**
2127 |(% style="text-align:center; vertical-align:middle; width:511px" %)(((
2128 Encoder cumulative position (Lower 32 bits)
2129 )))|(% 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
2130
2131 (% class="table-bordered" %)
2132 |(% 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**
2133 |(% style="text-align:center; vertical-align:middle" %)(((
2134 Encoder cumulative position (High 32 bits)
2135 )))|(% 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
2136 |(% colspan="7" %)Display the cumulative data of encoder position. It is used with U0-13 cooperatively.
2137
2138 (% class="table-bordered" %)
2139 |(% 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**
2140 |(% style="text-align:center; vertical-align:middle" %)DI input signal status|(% style="text-align:center; vertical-align:middle" %)(((
2141 00000000 to 11111111
2142 )))|(% 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
2143 |(% colspan="7" %)(((
2144 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").
2145
2146 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.
2147
2148 (% style="text-align:center" %)
2149 [[image:image-20220707161021-6.jpeg]]
2150 )))
2151
2152 (% class="table-bordered" %)
2153 |(% 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**
2154 |(% style="text-align:center; vertical-align:middle" %)DO output signal status|(% style="text-align:center; vertical-align:middle" %)(((
2155 00000000 to 00001111
2156 )))|(% 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
2157 |(% colspan="7" %)(((
2158 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").
2159
2160 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.
2161
2162 (% style="text-align:center" %)
2163 [[image:image-20220707161122-7.jpeg]]
2164 )))
2165
2166 (% class="table-bordered" %)
2167 |(% 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**
2168 |(% 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
2169 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2170 Display the current load inertia ratio. If the load inertia ratio is 3 times (300%) , the panel of servo drive is displayed as below.
2171
2172 [[image:image-20220707161347-10.jpeg]]
2173 )))
2174
2175 (% class="table-bordered" %)
2176 |(% 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**
2177 |(% 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
2178 |(% style="text-align:center; vertical-align:middle; width:364px" %)Reserved**☆**
2179 |(% colspan="7" %)(((
2180 Display the actual sampling voltage of analog channel 1.
2181
2182 (% class="table-bordered" %)
2183 |(% style="text-align:center; vertical-align:middle" %)10.00V display|(% style="text-align:center; vertical-align:middle" %)-10.00V display
2184 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161301-8.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161307-9.jpeg]]
2185
2186 “☆” indicates that the VD2F servo drive does not have this monitoring.
2187 )))
2188
2189 (% class="table-bordered" %)
2190 |(% 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**
2191 |(% 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
2192 |(% style="text-align:center; vertical-align:middle; width:362px" %)Reserved**☆**
2193 |(% colspan="7" %)“☆” indicates that the VD2F servo drive does not have this monitoring.
2194
2195 (% class="table-bordered" %)
2196 |(% 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**
2197 |(% 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
2198
2199 (% class="table-bordered" %)
2200 |(% 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**
2201 |(% 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
2202
2203 (% class="table-bordered" %)
2204 |(% 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**
2205 |(% 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
2206 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2207 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.
2208
2209 [[image:image-20220707161618-11.jpeg]]
2210 )))
2211
2212 (% class="table-bordered" %)
2213 |(% 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**
2214 |(% 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
2215 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2216 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.
2217
2218 [[image:image-20220707161625-12.jpeg]]
2219 )))
2220
2221 (% class="table-bordered" %)
2222 |(% 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**
2223 |(% 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
2224 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2225 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.
2226
2227 [[image:image-20220707161633-13.jpeg]]
2228 )))
2229
2230 |(% 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**
2231 |(% 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
2232 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2233 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.
2234
2235 [[image:image-20220707161639-14.jpeg]]
2236 )))
2237
2238 (% class="table-bordered" %)
2239 |(% 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**
2240 |(% 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
2241 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2242 Display current mechanical angle of motor. 0 corresponds to a mechanical angle of 0 degree.
2243
2244 If the mechanical angle is 270°, the panel of servo drive is displayed as below.
2245
2246 [[image:image-20220707161852-15.jpeg]]
2247 )))
2248
2249 (% class="table-bordered" %)
2250 |(% 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**
2251 |(% 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
2252 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2253 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.
2254
2255 [[image:image-20220707161905-16.jpeg]]
2256
2257
2258 )))
2259
2260 (% class="table-bordered" %)
2261 |(% 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**
2262 |(% 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
2263 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2264 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.
2265
2266 [[image:image-20220707161912-17.jpeg]]
2267 )))
2268
2269 (% class="table-bordered" %)
2270 |(% 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**
2271 |(% 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
2272
2273 (% class="table-bordered" %)
2274 |(% 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**
2275 |(% 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
2276
2277 (% class="table-bordered" %)
2278 |(% 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**
2279 |(% 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
2280
2281 (% class="table-bordered" %)
2282 |(% 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**
2283 |(% 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
2284
2285 (% class="table-bordered" %)
2286 |(% 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**
2287 |(% 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
2288
2289 (% class="table-bordered" %)
2290 |(% 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**
2291 |(% 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
2292
2293 (% class="table-bordered" %)
2294 |(% 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**
2295 |(% 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
2296 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2297 Display current load torque percentage. If the current load torque percentage is 10.3%, the panel of servo drive is displayed as below.
2298
2299 [[image:image-20220707161956-18.jpeg]]
2300 )))
2301
2302 |(% 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**
2303 |(% 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
2304
2305 |(% 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**
2306 |(% 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
2307
2308 |(% 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**
2309 |(% 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
2310
2311 |(% 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**
2312 |(% 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
2313
2314 |(% 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**
2315 |(% 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
2316
2317 |(% 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**
2318 |(% 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
2319
2320 |(% 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**
2321 |(% 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
2322
2323 |(% 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**
2324 |(% 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
2325
2326 |(% 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**
2327 |(% 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
2328 |(% colspan="7" %)(((
2329 Display current Motor model code. Take WD80M-07530S-A1F (A026) as an example, the panel of servo drive is displayed as below.
2330
2331 (% style="text-align:center" %)
2332 [[image:image-20220707162054-20.jpeg]]
2333 )))
2334
2335 |(% 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**
2336 |(% 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
2337 |(% colspan="7" %)Display the single turn position feedback value of absolute encoder
2338
2339 |(% 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**
2340 |(% style="text-align:center; vertical-align:middle; width:338px" %)(((
2341 Circle numbers of multi-turn absolute encoder
2342 )))|(% 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
2343 |(% colspan="7" %)Display the circle number of multi-turn absolute encoder
2344
2345 |(% 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**
2346 |(% 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
2347 |(% colspan="7" %)Display the absolute position of motor (instruction unit). It is only valid is multi-turn absolute encoder motor
2348
2349 = **Group U1 Warning monitoring** =
2350
2351 |(% 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**
2352 |(% 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
2353 |(% colspan="7" %)(((
2354 If there is fault in servo drive, it would display the corresponding fault. If not, the panel displays “~-~--”.
2355
2356 Take the fault “encoder disconnect” as an example, the panel of servo drive is displayed as below.
2357
2358 |(% 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
2359 |(% 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]]
2360 )))
2361
2362 |(% 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**
2363 |(% 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
2364 |(% colspan="7" %)(((
2365 If there is warning in servo drive, it would display the corresponding warning. If not, the panel displays “~-~--”.
2366
2367 Take the warning“DI port configuration duplication” as an example, the panel is displayed as below.
2368
2369 |(% 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
2370 |(% 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]]
2371 )))
2372
2373 |(% 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**
2374 |(% 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
2375
2376 |(% 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**
2377 |(% 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
2378
2379 |(% 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**
2380 |(% 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
2381
2382 |(% 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**
2383 |(% 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
2384
2385 |(% 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**
2386 |(% 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
2387
2388 |(% 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**
2389 |(% 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
2390
2391 |(% 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**
2392 |(% 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
2393
2394 |(% 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**
2395 |(% 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
2396
2397 |(% 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**
2398 |(% 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
2399
2400 |(% 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**
2401 |(% 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
2402
2403 |(% 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**
2404 |(% 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
2405
2406 |(% 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**
2407 |(% 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
2408
2409 |(% 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**
2410 |(% 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
2411
2412 |(% 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**
2413 |(% 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
2414 |(% colspan="7" style="text-align:center; vertical-align:middle" %)Display the 1st fault code of the most recent of servo drive
2415
2416 |(% 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**
2417 |(% 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
2418
2419 |(% 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**
2420 |(% 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
2421
2422 |(% 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**
2423 |(% 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
2424
2425 |(% 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**
2426 |(% 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
2427
2428 |(% 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**
2429 |(% 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
2430 |(% colspan="7" %)Display the 1st warning code of the most recent of servo drive
2431
2432 |(% 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**
2433 |(% 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
2434
2435 |(% 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**
2436 |(% 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
2437
2438 |(% 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**
2439 |(% 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
2440
2441 |(% 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**
2442 |(% 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
2443
2444 = **Group U2 Device monitoring** =
2445
2446 |(% 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**
2447 |(% 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
2448 |(% colspan="7" %)(((
2449 Display the product series code of servo drive.
2450
2451 The product series code of VD2A and VD2B is 0x4432. The product series code of VD2F is 0x3246.
2452
2453 There are displayed as below.
2454
2455 [[image:image-20220707162607-24.jpeg]][[image:image-20220707162613-25.jpeg]]
2456 )))
2457
2458 |(% 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**
2459 |(% 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
2460 |(% colspan="7" %)Display the servo drive model.(((
2461 |(% 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**
2462 |(% 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
2463 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163100-29.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-014SA1G
2464 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163104-30.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-016SA1G
2465 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163110-31.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-019SA1G
2466 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163115-32.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-021SA1G
2467 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163123-33.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-025SA1G
2468 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163128-34.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-030SA1G
2469 |(% 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
2470 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163144-36.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2F-014SA1P
2471 )))
2472
2473 |(% 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**
2474 |(% 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
2475 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2476 |**U2-01 display**|**U2-02 display**|**U2-03 display**|**Model**
2477 |[[image:image-20220707165330-1.jpeg]]|[[image:image-20220707165334-2.jpeg]]|[[image:image-20220707165339-3.jpeg]]|(((
2478 VD2-021TA1G
2479 )))
2480 )))
2481
2482 |(% 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**
2483 |(% 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
2484 |(% colspan="7" %)(((
2485 Display the firmware version
2486
2487 Display format: X.YY. For example, 1.13. The panel is displayed as below.
2488
2489 (% style="text-align:center" %)
2490 [[image:image-20220707163242-37.jpeg]]
2491 )))
2492
2493 |(% 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**
2494 |(% 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
2495 |(% colspan="7" %)(((
2496 Display the hardware version (FPGA)
2497
2498 Display format: X.YY. For example, 1.01. The panel is displayed as below.
2499
2500 (% style="text-align:center" %)
2501 [[image:image-20220707163248-38.jpeg]]
2502 )))
2503
2504 |(% 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**
2505 |(% 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
2506 |(% style="text-align:center; vertical-align:middle" %)Firmware date (year) *
2507 |(% colspan="7" %)Display the year of manufacture of the VD2F drive firmware.
2508
2509 |(% 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**
2510 |(% 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
2511 |(% style="text-align:center; vertical-align:middle" %)Firmware date (month) *
2512 |(% colspan="7" %)Display the month of manufacture of the VD2F drive firmware.
2513
2514 |(% 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**
2515 |(% 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
2516 |(% style="text-align:center; vertical-align:middle; width:332px" %)Firmware date (day) *
2517 |(% colspan="7" %)(((
2518 Displays the production date of the VD2F drive firmware.
2519
2520 For example, the firmware production day of VD2F-014SA1P_V1.01 is January 10, 2022, the panel is displayed as below.
2521
2522 |(% 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**
2523 |(% 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]]
2524 )))
2525
2526 |(% 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**
2527 |(% 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
2528
2529 |(% 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**
2530 |(% 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
2531
2532 |(% 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**
2533 |(% 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
2534
2535 |(% 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**
2536 |(% 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
2537
2538 |(% 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**
2539 |(% 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
2540
2541 |(% 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**
2542 |(% 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
2543
2544 |(% 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**
2545 |(% 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
2546
2547 |(% 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**
2548 |(% 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