Skip to Content

Wiki source code of 09 Parameters

Version 77.1 by Jim on 2023/08/12 14:38
Show last authors
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 |(% rowspan="2" style="width:70px" %)**P00-31**|(% style="width:188px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
344 |(% style="width:188px" %)Encoder read-write check abnormal frequency|Operation setting|Effective immediately|20|0 to 100|Basic setting|-
345 |(% colspan="8" %)(((
346 0: no alarm
347
348 Other values: After exceeding this set value, A93 encoder read/write verification abnormal frequency warning will be reported.
349 )))
350
351 = **Group P01 Control parameters** =
352
353 (% class="table-bordered" %)
354 |(% 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**
355 |(% 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" %)-
356 |(% colspan="8" %)(((
357 Select speed instruction source
358
359 (% class="table-bordered" %)
360 |(% 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**
361 |(% 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]]__.
362 |(% 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" %)(((
363 External speed instruction. Please refer to __[[4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
364 )))
365
366 “*” indicates that the VD2F servo drive does not support this function code.
367 )))
368
369 (% class="table-bordered" %)
370 |(% 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**
371 |(% 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" %)(((
372 -5000 to 5000
373 )))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Speed mode|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
374 |(% style="text-align:center; vertical-align:middle" %)-5000 to 5000*
375 |(% 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.
376
377 (% class="table-bordered" %)
378 |(% 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**
379 |(% 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
380 |(% colspan="8" %)(((
381 The time that the speed instruction accelerates from 0 to 1000 rpm.
382
383 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]]__
384 )))
385
386 (% class="table-bordered" %)
387 |(% 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**
388 |(% 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
389 |(% colspan="8" %)(((
390 The time that the speed instruction decelerates from 1000 to 0 rpm.
391
392 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]]__
393 )))
394
395 |(% rowspan="2" %)**P01-05**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
396 |Shutdown deceleration time|Shutdown setting|Effective immediately|50|0 to 65535|-|ms
397 |(% colspan="8" %)The time for the speed command to decelerate from 1000rpm to 0
398
399 (% class="table-bordered" %)
400 |(% 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**
401 |(% 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" %)-
402 |(% colspan="8" %)(((
403 Used to select position instruction source when servo drive is in position control mode.
404
405 (% class="table-bordered" %)
406 |(% 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**
407 |(% 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]]__
408 |(% 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]]__.
409
410 “*” indicates that the VD2F servo drive does not support this function code.
411 )))
412
413 (% class="table-bordered" %)
414 |(% 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**
415 |(% style="text-align:center; vertical-align:middle" %)(((
416 Torque instruction source
417 )))|(% 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" %)-
418 |(% colspan="8" %)(((
419 Used to select torque instruction source when servo drive is in torque control mode.
420
421 (% class="table-bordered" %)
422 |(% 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**
423 |(% 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]]__
424 |(% 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]]__
425
426 “*” indicates that the VD2F servo drive does not support this instruction source
427 )))
428
429 (% class="table-bordered" %)
430 |(% 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**
431 |(% 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%
432 |(% colspan="14" %)Used to set the required torque instruction value when P01-07 is set to 0 (internal torque instruction).
433 |(% 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**
434 |(% 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" %)-
435 |(% colspan="14" %)(((
436 Used to set speed limit source when servo drive is in torque control mode.
437
438 (% class="table-bordered" %)
439 |(% 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**
440 |(% 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]]__
441 |(% 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]]__
442
443 “*” indicates that the VD2F servo drive does not support this instruction source.
444 )))
445
446 (% class="table-bordered" %)
447 |(% 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**
448 |(% 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
449 |(% 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).
450
451 (% class="table-bordered" %)
452 |(% 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**
453 |(% 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
454 |(% 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).
455
456 (% class="table-bordered" %)
457 |(% 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**
458 |(% 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
459 |(% colspan="8" %)Used to set the limit value of forward speed
460
461 (% class="table-bordered" %)
462 |(% 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**
463 |(% 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
464 |(% colspan="8" %)Used to set the limit value of reverse speed
465
466 (% class="table-bordered" %)
467 |(% 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**
468 |(% 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" %)-
469 |(% colspan="8" %)Used to select torque instruction source when servo drive is in torque control mode.(((
470 (% class="table-bordered" %)
471 |(% 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**
472 |(% 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]]__
473 |(% 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]]__
474 )))
475
476 (% class="table-bordered" %)
477 |(% 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**
478 |(% style="text-align:center; vertical-align:middle; width:169px" %)(((
479 Forward torque limit
480 )))|(% 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%
481 |(% colspan="8" %)Used to set the limit value of forward speed
482
483 (% class="table-bordered" %)
484 |(% 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**
485 |(% style="text-align:center; vertical-align:middle; width:194px" %)(((
486 Reverse torque limit
487 )))|(% 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%
488 |(% colspan="8" %)(((
489 When P01-14 is set to 0 ()internal) , the setting value of this function code is reverse torque limit value.
490
491 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]]__.
492 )))
493
494 (% class="table-bordered" %)
495 |(% 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**
496 |(% 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
497 |(% 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]]__
498 |(% 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**
499 |(% 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
500 |(% 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]]__
501
502 (% class="table-bordered" %)
503 |(% 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**
504 |(% 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
505 |(% colspan="8" %)(((
506 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”.
507
508 ✎**Note:** When this function code is set to 0, saturation timeout fault detection would not be performed, and ignore this fault,
509 )))
510
511 (% class="table-bordered" %)
512 |(% 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**
513 |(% 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" %)-
514 |(% 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]]__(((
515 (% class="table-bordered" %)
516 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Function**
517 |(% style="text-align:center; vertical-align:middle" %)0|Force speed to 0
518 |(% 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
519 |(% 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
520 |(% style="text-align:center; vertical-align:middle" %)3|Invalid. Ignore zero-speed clamp input
521 )))
522
523 (% class="table-bordered" %)
524 |(% 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**
525 |(% 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" %)(((
526 0 to 5000
527 )))|(% style="text-align:center; vertical-align:middle; width:127px" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)rpm
528 |(% 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]]__.
529
530 |(% rowspan="2" %)**P01-23**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
531 |(((
532 Internal speed
533
534 Instruction 1
535 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
536 |(% colspan="8" %)(((
537 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.
538
539 |**INSPD3**|**INSPD2**|**INSPD1**|**Internal speed instruction segment number**
540 |0|0|0|0
541 |0|0|1|1
542 |0|1|0|2
543 |(% colspan="4" %)…………
544 |1|1|1|7
545
546 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]]
547 )))
548
549 |(% rowspan="2" %)(((
550
551
552 **P01-24**
553 )))|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
554 |(((
555 Internal speed
556
557 Instruction 2
558 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
559 |(% colspan="8" %)Used to set the speed value of internal speed instruction 2.
560
561 |(% rowspan="2" %)**P01-25**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
562 |(((
563 Internal speed
564
565 Instruction 3
566 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
567 |(% colspan="8" %)Used to set the speed value of internal speed instruction 3.
568 |(% rowspan="2" %)**P01-26**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
569 |(((
570 Internal speed
571
572 Instruction 4
573 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
574 |(% colspan="8" %)Used to set the speed value of internal speed instruction 4.
575
576 |(% rowspan="2" %)**P01-27**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
577 |(((
578 Internal speed
579
580 Instruction 5
581 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
582 |(% colspan="8" %)Used to set the speed value of internal speed instruction 5.
583
584 |(% rowspan="2" %)**P01-28**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
585 |(((
586 Internal speed
587
588 Instruction 6
589 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
590 |(% colspan="8" %)Used to set the speed value of internal speed instruction 6.
591
592 |(% rowspan="2" %)**P01-29**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
593 |(((
594 Internal speed
595
596 Instruction 7
597 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
598 |(% colspan="8" %)Used to set the speed value of internal speed instruction 7.
599
600 |(% rowspan="2" %)**P01-30**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
601 |Delay from brake output ON to instruction reception|Operation setting|Effective immediately|250|0 to 500|-|rpm
602 |(% 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]].
603
604 (% class="table-bordered" %)
605 |(% 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**
606 |(% 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
607 |(% 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]]__.
608
609 (% class="table-bordered" %)
610 |(% 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**
611 |(% 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
612 |(% 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]]__.
613
614 |(% rowspan="2" %)**P01-33**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
615 |Rotation status, delay from servo enable OFF to brake output OFF|Operation setting|500| |1 to 1000|-|rpm
616 |(% 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]].
617
618 = **Group P02 Gain adjustment** =
619
620 (% class="table-bordered" %)
621 |(% 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**
622 |(% 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
623 |(% colspan="8" %)Set the proportional gain of the 1st position loop to determine the responsiveness of position control system.
624
625 (% class="table-bordered" %)
626 |(% 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**
627 |(% 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
628 |(% colspan="8" %)Set the proportional gain of the 1st speed loop to determine the responsiveness of speed loop.
629
630 (% class="table-bordered" %)
631 |(% 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**
632 |(% style="text-align:center; vertical-align:middle" %)1st speed loop integral time constant|(% style="text-align:center; vertical-align:middle" %)(((
633 Operation setting
634 )))|(% 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
635 |(% colspan="8" %)Set the 1st speed loop integral constant. The smaller the set value, the stronger the integral effect.
636
637 (% class="table-bordered" %)
638 |(% 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**
639 |(% 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
640 |(% colspan="8" %)Set the proportional gain of the 2nd position loop to determine the responsiveness of position control system.
641
642 (% class="table-bordered" %)
643 |(% 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**
644 |(% 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
645 |(% colspan="8" %)Set the proportional gain of the 2nd speed loop to determine the responsiveness of speed loop.
646
647 (% class="table-bordered" %)
648 |(% 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**
649 |(% style="text-align:center; vertical-align:middle" %)2nd speed loop integral time constant|(% style="text-align:center; vertical-align:middle" %)(((
650 Operation setting
651 )))|(% 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
652 |(% colspan="8" %)Set the 2nd speed loop integral constant. The smaller the set value, the stronger the integral effect.
653
654 (% class="table-bordered" %)
655 |(% 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**
656 |(% style="text-align:center; vertical-align:middle" %)2nd gain switching mode|(% style="text-align:center; vertical-align:middle" %)(((
657 Operation setting
658 )))|(% 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" %)-
659 |(% colspan="8" %)Used to set the 2nd gain switching mode.(((
660 (% class="table-bordered" %)
661 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Definition**
662 |(% style="text-align:center; vertical-align:middle" %)0|Switch by DI terminal
663 |(% style="text-align:center; vertical-align:middle" %)1|Speed instruction change rate is too large
664 |(% style="text-align:center; vertical-align:middle" %)2|Large position deviation
665 |(% style="text-align:center; vertical-align:middle" %)3|None
666 )))
667
668 |(% 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**
669 |(% 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" %)
670 |(% colspan="8" %)(((
671 Set the conditions for gain switching.
672
673 |(% 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**
674 |(% 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
675 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((
676 Use DI function 10 (GAIN-SEL, gain switching);
677
678 DI logic is invalid: the first gain (P02-01~~P02-03);
679
680 DI logic is valid: the second gain (P02-04~~P02-06).
681 )))
682 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
683 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
684
685 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.
686 )))
687 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
688 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
689
690 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.
691 )))
692 |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
693 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
694
695 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.
696 )))
697 |(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
698 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
699
700 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.
701 )))
702 |(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
703 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;
704
705 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.
706 )))
707 |(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
708 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
709
710 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.
711 )))
712 |(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
713 In the previous first gain, if the position command is not 0, switch to the second gain;
714
715 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
716 )))
717 |(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
718 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.
719 )))
720 |(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
721 In the previous first gain, if the position command is not 0, the second gain is switched;
722
723 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).
724 )))
725
726 (% class="table-bordered" %)
727 |(% 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**
728 |(% style="text-align:center; vertical-align:middle" %)Speed feedforward gain|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
729 Operation setting
730 )))|(% 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%
731 |(% colspan="8" %)Set speed feedforward gain
732
733 (% class="table-bordered" %)
734 |(% 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**
735 |(% style="text-align:center; vertical-align:middle" %)Speed feedforward filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
736 Operation setting
737 )))|(% 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
738 |(% colspan="8" %)Set the time constant of one delay filter related to the speed feedforward input.
739
740 |(% 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**
741 |(% style="text-align:center; vertical-align:middle" %)Torque feedforward gain|(% style="text-align:center; vertical-align:middle" %)(((
742 Operation setting
743 )))|(% 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%
744 |(% colspan="8" %)Set torque feedforward gain
745
746 (% class="table-bordered" %)
747 |(% 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**
748 |(% style="text-align:center; vertical-align:middle" %)Torque feedforward filter time constant|(% style="text-align:center; vertical-align:middle" %)(((
749 Operation setting
750 )))|(% 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
751 |(% colspan="8" %)Set the time constant of one delay filter related to the torque feedforward input.
752 )))
753
754 |(% 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**
755 |(% 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
756 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
757 The duration of the switching condition required for the second gain to switch back to the first gain.
758
759 [[image:20230516P0213.png]]
760
761 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
762 )))
763
764 |(% 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**
765 |(% 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
766 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
767 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
768
769 [[image:20230516P0214.png]]
770 )))
771
772 |(% 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**
773 |(% 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
774 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
775 Set the hysteresis to meet the gain switching condition.
776
777 [[image:20230516P0215.png]]
778 )))
779
780 |(% 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**
781 |(% 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
782 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
783 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
784
785 [[image:20230516P0216.png]]
786
787 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
788 )))
789
790 |(% 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**
791 |(% 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" %)
792 |(% colspan="8" %)(((
793 Set 1 to enable the model tracking control function.
794 )))
795
796 |(% 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**
797 |(% 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
798 |(% colspan="8" %)(((
799 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.
800 )))
801
802 |(% 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**
803 |(% 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%
804 |(% colspan="8" %)(((
805 The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.
806 )))
807
808 |(% 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**
809 |(% 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%
810 |(% colspan="8" %)(((
811 Torque feedforward size in the positive direction under model tracking control.
812 )))
813
814 |(% 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**
815 |(% 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%
816 |(% colspan="8" %)(((
817 Torque feedforward size in the reverse direction under model tracking control.
818 )))
819
820 |(% 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**
821 |(% style="text-align:center" %)Model tracking control speed feedforward compensation|(% style="text-align:center" %)Operation
822 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%
823 |(% colspan="8" %)(((
824 The size of the speed feedforward under model tracking control.
825 )))
826
827 = **Group P03 Self-adjusting parameters** =
828
829 (% class="table-bordered" %)
830 |(% 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**
831 |(% style="text-align:center; vertical-align:middle; width:214px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
832 Operation setting
833 )))|(% 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
834 |(% colspan="8" %)(((
835 Set load inertia ratio: 0.00 to 100.00 times.
836
837 “*” indicates that the factory defaults for different models may differ.
838 )))
839
840 (% class="table-bordered" %)
841 |(% 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**
842 |(% style="text-align:center; vertical-align:middle; width:243px" %)Load rigidity grade selection|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
843 Operation setting
844 )))|(% 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" %)-
845 |(% 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.
846
847 (% class="table-bordered" %)
848 |(% 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**
849 |(% style="text-align:center; vertical-align:middle; width:212px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:182px" %)(((
850 Operation setting
851 )))|(% 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" %)-
852 |(% 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.(((
853 (% class="table-bordered" %)
854 |(% 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**
855 |(% 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.
856 |(% 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
857 |(% style="text-align:center; vertical-align:middle; width:116px" %)2|(% style="width:177px" %)Online automatic self-adjusting mode|Not implemented yet
858 )))
859
860 (% class="table-bordered" %)
861 |(% 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**
862 |(% style="text-align:center; vertical-align:middle; width:283px" %)Online inertia recognition sensitivity|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
863 Operation setting
864 )))|(% 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" %)-
865 |(% colspan="8" %)Not implemented yet.
866
867 (% class="table-bordered" %)
868 |(% 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**
869 |(% 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
870 |(% colspan="8" %)Offline load inertia recognition process, motor rotation number setting
871
872 (% class="table-bordered" %)
873 |(% 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**
874 |(% style="text-align:center; vertical-align:middle; width:247px" %)(((
875 Inertia recognition maximum speed
876 )))|(% 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
877 |(% 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.
878
879 (% class="table-bordered" %)
880 |(% 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**
881 |(% style="text-align:center; vertical-align:middle; width:280px" %)(((
882 Parameter recognition rotation direction
883 )))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
884 Shutdown setting
885 )))|(% 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" %)-
886 |(% colspan="8" %)Set parameter recognition rotation direction(((
887 (% class="table-bordered" %)
888 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Rotation direction**
889 |(% style="text-align:center; vertical-align:middle" %)0|Forward and reverse reciprocating rotation
890 |(% style="text-align:center; vertical-align:middle" %)1|Forward one-way rotation
891 |(% style="text-align:center; vertical-align:middle" %)2|Reverse one-way rotation
892 )))
893
894 (% class="table-bordered" %)
895 |(% 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**
896 |(% style="text-align:center; vertical-align:middle" %)(((
897 Parameter recognition waiting time
898 )))|(% style="text-align:center; vertical-align:middle" %)(((
899 Shutdown setting
900 )))|(% 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
901 |(% colspan="8" %)During offline inertia recognition, the time interval between two consecutive speed instructions
902
903 = **Group P04 Vibration suppression** =
904
905 (% class="table-bordered" %)
906 |(% 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**
907 |(% style="text-align:center; vertical-align:middle" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle" %)(((
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 1|(% style="text-align:center; vertical-align:middle" %)Position mode|(% style="text-align:center; vertical-align:middle" %)-
910 |(% colspan="8" %)(((
911 (% class="table-bordered" %)
912 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Filtering method**
913 |(% style="text-align:center; vertical-align:middle" %)0|First-order low-pass filter
914 |(% style="text-align:center; vertical-align:middle" %)1|Average filtering
915 )))
916
917 (% class="table-bordered" %)
918 |(% 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**
919 |(% 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" %)(((
920 Shutdown setting
921 )))|(% 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
922 |(% colspan="8" %)Used to set position instructions first-order low-pass filtering time constant.(((
923 (% class="table-bordered" %)
924 |(% 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]]
925 |(% 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]]
926 )))
927
928 (% class="table-bordered" %)
929 |(% 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**
930 |(% style="text-align:center; vertical-align:middle" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
931 Shutdown setting
932 )))|(% 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
933 |(% colspan="8" %)Used to set average filtering time constant.(((
934 (% class="table-bordered" %)
935 |(% 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]]
936 |(% 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]]
937 )))
938
939 (% class="table-bordered" %)
940 |(% 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**
941 |(% 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
942 |(% 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]]__
943
944 (% class="table-bordered" %)
945 |(% 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**
946 |(% style="text-align:center; vertical-align:middle" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
947 Operation setting
948 )))|(% 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
949 |(% colspan="8" %)(((
950 Set the center frequency of the 1st notch filter.
951
952 When the function code is set to 5000, the function of the notch filter is invalid.
953 )))
954
955 (% class="table-bordered" %)
956 |(% 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**
957 |(% style="text-align:center; vertical-align:middle" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
958 Operation setting
959 )))|(% 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" %)-
960 |(% colspan="8" %)(((
961 Set the notch filter depth grade (the ratio between input and output at the center frequency of the notch filter)
962
963 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]]__
964 )))
965
966 (% class="table-bordered" %)
967 |(% 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**
968 |(% style="text-align:center; vertical-align:middle" %)1st notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
969 Operation setting
970 )))|(% 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" %)-
971 |(% colspan="8" %)Set the notch filter width grade (the ratio between input and output at the center frequency of the notch filter)
972
973 (% class="table-bordered" %)
974 |(% 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**
975 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
976 Operation setting
977 )))|(% 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
978 |(% colspan="8" %)(((
979 Set the center frequency of the 1st notch filter.
980
981 When the function code is set to 5000, the function of the notch filter is invalid.
982 )))
983
984 (% class="table-bordered" %)
985 |(% 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**
986 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
987 Operation setting
988 )))|(% 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" %)-
989
990 (% class="table-bordered" %)
991 |(% 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**
992 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
993 Operation setting
994 )))|(% 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" %)-
995
996 |(% 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**
997 |(% style="text-align:center; vertical-align:middle" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle" %)(((
998 Operation setting
999 )))|(% 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" %)
1000 |(% colspan="8" %)(((
1001 When the function code is set to 1, enable the low-frequency vibration suppression function.
1002 )))
1003
1004 |(% 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**
1005 |(% style="text-align:center; vertical-align:middle" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
1006 Operation setting
1007 )))|(% 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
1008 |(% colspan="8" %)(((
1009 Set the center frequency of the 1st notch filter.
1010
1011 When the function code is set to 5000, the function of the notch filter is invalid.
1012 )))
1013
1014 |(% 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**
1015 |(% style="text-align:center; vertical-align:middle" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle" %)(((
1016 Operation setting
1017 )))|(% 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
1018 |(% colspan="8" %)(((
1019 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.
1020 )))
1021
1022 |(% 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**
1023 |(% style="text-align:center; vertical-align:middle" %)Speed feedback filtering time|(% style="text-align:center; vertical-align:middle" %)(((
1024 Operation setting
1025 )))|(% 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
1026 |(% colspan="8" %)(((
1027 Wave filtering of the feedback speed of the encoder. When the filtering time is set large, it may cause the motor to vibrate.
1028 )))
1029
1030 |(% 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**
1031 |(% style="text-align:center; vertical-align:middle" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle" %)(((
1032 Operation setting
1033 )))|(% 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" %)
1034 |(% colspan="8" %)(((
1035 When the function code is set to 1, enable the type A suppression function.
1036 )))
1037
1038 |(% 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**
1039 |(% style="text-align:center; vertical-align:middle" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
1040 Operation setting
1041 )))|(% 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
1042 |(% colspan="8" %)(((
1043 Set the frequency of Type A suppression.
1044 )))
1045
1046 |(% 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**
1047 |(% style="text-align:center; vertical-align:middle" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle" %)(((
1048 Operation setting
1049 )))|(% 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
1050 |(% colspan="8" %)(((
1051 Correct the load inertia ratio size.
1052 )))
1053
1054 |(% 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**
1055 |(% style="text-align:center; vertical-align:middle" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle" %)(((
1056 Operation setting
1057 )))|(% 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
1058 |(% colspan="8" %)(((
1059 The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.
1060 )))
1061
1062 |(% 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**
1063 |(% style="text-align:center; vertical-align:middle" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle" %)(((
1064 Operation setting
1065 )))|(% 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
1066 |(% colspan="8" %)(((
1067 Type A suppression phase compensation.
1068 )))
1069
1070 = **Group P05 Signal input and output** =
1071
1072 (% class="table-bordered" %)
1073 |(% 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**
1074 |(% 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
1075 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1076 Set AI_1 channel analog bias value
1077
1078 [[image:image-20220608160946-7.png]]
1079
1080 “☆” indicates that the VD2F servo drive does not support this function code.
1081 )))
1082
1083 (% class="table-bordered" %)
1084 |(% 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**
1085 |(% 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
1086 |(% colspan="8" %)(((
1087 Set AI_1 channel input first-order low-pass filter time constant
1088
1089 “☆” indicates that the VD2F servo drive does not support this function code.
1090 )))
1091
1092 (% class="table-bordered" %)
1093 |(% 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**
1094 |(% 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
1095 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1096 Set AI_1 channel analog quantity dead zone value. “Dead zone” is the input voltage interval when the sample voltage is 0.
1097
1098 [[image:image-20220608161112-8.png]]
1099
1100 “☆” indicates that the VD2F servo drive does not support this function code.
1101 )))
1102
1103 (% class="table-bordered" %)
1104 |(% 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**
1105 |(% 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
1106 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1107 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.
1108
1109 [[image:image-20220608161203-9.png]]
1110
1111 “☆” indicates that the VD2F servo drive does not support this function code.
1112 )))
1113
1114 (% class="table-bordered" %)
1115 |(% 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**
1116 |(% 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
1117 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1118
1119 (% class="table-bordered" %)
1120 |(% 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**
1121 |(% 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
1122 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1123
1124 (% class="table-bordered" %)
1125 |(% 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**
1126 |(% 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
1127 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1128
1129 (% class="table-bordered" %)
1130 |(% 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**
1131 |(% 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
1132 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1133
1134 (% class="table-bordered" %)
1135 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**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**
1136 |(% 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
1137 |(% colspan="8" %)(((
1138 Set the speed value corresponding to the analog 10V
1139
1140 (% class="table-bordered" %)
1141 |(% 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**
1142 |(% 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]]
1143
1144 Given speed = sampling voltage / 10 * (P05-09)
1145
1146 “☆” indicates that the VD2F servo drive does not support this function code.
1147 )))
1148
1149 (% class="table-bordered" %)
1150 |(% 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**
1151 |(% 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%
1152 |(% colspan="8" %)(((
1153 Set the torque value corresponding to the analog 10V
1154
1155 (% class="table-bordered" %)
1156 |(% 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**
1157 |(% 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]]
1158
1159 Given torque= sampling voltage / 10 * (P05-10)
1160
1161 “☆” indicates that the VD2F servo drive does not support this function code.
1162 )))
1163
1164 (% class="table-bordered" %)
1165 |(% 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**
1166 |(% 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" %)-
1167 |(% colspan="8" %)(((
1168 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.
1169
1170 (% class="table-bordered" %)
1171 |(% style="text-align:center; vertical-align:middle; width:88px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:1095px" %)**Output condition**
1172 |(% 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
1173 |(% 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
1174 |(% 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
1175 |(% 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
1176
1177 “☆” indicates that the VD2F servo drive does not support this function code.
1178 )))
1179
1180 (% class="table-bordered" %)
1181 |(% 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**
1182 |(% 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
1183 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning completion signal
1184
1185 (% class="table-bordered" %)
1186 |(% 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**
1187 |(% 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
1188 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning approach signal
1189
1190 (% class="table-bordered" %)
1191 |(% 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**
1192 |(% 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
1193 |(% colspan="8" %)Set the detection window time for positioning completion
1194
1195 (% class="table-bordered" %)
1196 |(% 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**
1197 |(% 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
1198 |(% 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)
1199
1200 (% class="table-bordered" %)
1201 |(% 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**
1202 |(% 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
1203 |(% 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]]__
1204
1205 (% class="table-bordered" %)
1206 |(% 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**
1207 |(% 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
1208 |(% 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]]__
1209
1210 (% class="table-bordered" %)
1211 |(% 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**
1212 |(% 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
1213 |(% 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]]__
1214
1215 (% class="table-bordered" %)
1216 |(% 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**
1217 |(% 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
1218 |(% 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]]__
1219
1220 (% class="table-bordered" %)
1221 |(% 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**
1222 |(% 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" %)%
1223 |(% 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]]__
1224
1225 (% class="table-bordered" %)
1226 |(% 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**
1227 |(% 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" %)%
1228 |(% 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]]__
1229
1230 = **Group P06 DI/DO configuration** =
1231
1232 (% class="table-bordered" %)
1233 |(% 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**
1234 |(% 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" %)-
1235 |(% colspan="8" %)(((
1236 Set DI functions corresponding to hardware DI_1. The related functions are as below.
1237
1238 (% class="table-bordered" %)
1239 |(% 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**
1240 |(% 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)
1241 |(% 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)
1242 |(% 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)
1243 |(% 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)
1244 |(% 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
1245 |(% 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
1246 |(% 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
1247 |(% 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)
1248 |(% 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" %)(((
1249 INPOS1 (Internal multi-segment position selection 1)
1250 )))
1251 |(% 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" %)(((
1252 INPOS2 (Internal multi-segment position selection 2)
1253 )))
1254 |(% 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" %)(((
1255 INPOS3 (Internal multi-segment position selection 3)
1256 )))
1257 |(% 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" %)(((
1258 INPOS4 (Internal multi-segment position selection 4)
1259 )))
1260 |(% 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" %)-
1261
1262 If P06-02 is set to a value other than that in the table above, the DI port function is not required.
1263
1264 The same DI channel function could not be allocated to multiple DI ports, otherwise servo drive will occur A-89 (DI port configuration duplication)
1265 )))
1266
1267 (% class="table-bordered" %)
1268 |(% 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**
1269 |(% 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" %)-
1270 |(% colspan="8" %)DI port input logic validity function selection(((
1271 (% class="table-bordered" %)
1272 |(% 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**
1273 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)(((
1274 Normally open input.
1275
1276 Active low level (switch on)
1277 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161925-12.png]]
1278 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)(((
1279 Normally closed input.
1280
1281 Active high level (switch off)
1282 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608162007-13.png]]
1283 )))
1284
1285 (% class="table-bordered" %)
1286 |(% 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**
1287 |(% 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" %)-
1288 |(% colspan="8" %)Select the enabled DI_1 port type(((
1289 (% class="table-bordered" %)
1290 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1291 |(% style="text-align:center; vertical-align:middle" %)0|Hardware DI_1 input terminal
1292 |(% style="text-align:center; vertical-align:middle" %)1|Virtual VDI_1 input terminal
1293 )))
1294
1295 (% class="table-bordered" %)
1296 |(% 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**
1297 |(% 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" %)-
1298
1299 (% class="table-bordered" %)
1300 |(% 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**
1301 |(% 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" %)-
1302
1303 (% class="table-bordered" %)
1304 |(% 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**
1305 |(% 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" %)-
1306
1307 (% class="table-bordered" %)
1308 |(% 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**
1309 |(% 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" %)-
1310
1311 (% class="table-bordered" %)
1312 |(% 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**
1313 |(% 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" %)-
1314
1315 (% class="table-bordered" %)
1316 |(% 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**
1317 |(% 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" %)-
1318
1319 (% class="table-bordered" %)
1320 |(% 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**
1321 |(% 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" %)-
1322
1323 (% class="table-bordered" %)
1324 |(% 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**
1325 |(% 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" %)-
1326
1327 (% class="table-bordered" %)
1328 |(% 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**
1329 |(% 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" %)-
1330
1331 (% class="table-bordered" %)
1332 |(% 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**
1333 |(% 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" %)-
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: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**
1339 |(% 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" %)-
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" %)**P06-16☆**|(% 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**
1345 |(% 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" %)-
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; 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**
1351 |(% 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" %)-
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" %)**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**
1357 |(% 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" %)-
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" %)**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**
1363 |(% 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" %)-
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: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**
1369 |(% 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" %)-
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: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**
1375 |(% 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" %)-
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: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**
1381 |(% 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" %)-
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: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**
1387 |(% 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" %)-
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: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**
1393 |(% 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" %)-
1394
1395 “☆” indicates that the VD2F servo drive does not support this function code.
1396
1397 (% class="table-bordered" %)
1398 |(% 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**
1399 |(% 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" %)-
1400
1401 “☆” indicates that the VD2F servo drive does not support this function code.
1402
1403 (% class="table-bordered" %)
1404 |(% 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**
1405 |(% 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" %)-
1406 |(% colspan="8" %)(((
1407 Set DO functions corresponding to hardware DO_1. The related functions are as below.
1408
1409 (% class="table-bordered" %)
1410 |(% 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
1411 |(% 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)
1412 |(% 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)
1413 |(% 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)**✎1**
1414 |(% 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)
1415 |(% 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)**✎2**
1416 |(% 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
1417 |(% 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)
1418 |(% 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)
1419 |(% 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)
1420 |(% 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)
1421 |(% 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" %)
1422
1423 If P06-26 is set to a value other than that in the preceding table, the DO port function is not required
1424
1425 The same DO channel function could not be allocated to multiple DO ports, otherwise servo drive will occur A-90 (DO port configuration duplication)
1426
1427 “✎1” means use the function code BRK-OFF would be effective after power on again.
1428
1429 “✎2”Only under the VD2-0xxSA1H model, the DO_2, DO_3, DO_4 function code is 143 OZ (Z pulse output), these 3 channels correspond to the Z, A and B phase of the pulse output. And only VD2F models support 143: OZ (Z pulse output). The function code of VD2-0xxSA1G models is empty!
1430
1431 ✎**Note:** Only under VD2-0xxSA1H model, the default function code of the DO_1 channel function selection is 130ALM (fault signal)!
1432 )))
1433
1434 (% class="table-bordered" %)
1435 |(% 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**
1436 |(% 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" %)-
1437 |(% colspan="8" %)DO Port input logic validity function selection.(((
1438 (% class="table-bordered" %)
1439 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1440 |(% 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.
1441 |(% 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.
1442 )))
1443
1444 (% class="table-bordered" %)
1445 |(% 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**
1446 |(% 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" %)-
1447
1448 (% class="table-bordered" %)
1449 |(% 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**
1450 |(% 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" %)-
1451
1452 (% class="table-bordered" %)
1453 |(% 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**
1454 |(% 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" %)-
1455
1456 (% class="table-bordered" %)
1457 |(% 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**
1458 |(% 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" %)-
1459
1460 (% class="table-bordered" %)
1461 |(% 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**
1462 |(% 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" %)-
1463
1464 (% class="table-bordered" %)
1465 |(% 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**
1466 |(% 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" %)-
1467
1468 = **Group P07 multi-segment position** =
1469
1470 (% class="table-bordered" %)
1471 |(% 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**
1472 |(% 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" %)-
1473 |(% colspan="8" %)(((
1474 When servo is in position mode, and P01-06 (position instruction source) =1, set the operation mode of multi-segment position
1475
1476 (% class="table-bordered" %)
1477 |(% 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**
1478 |(% style="text-align:center; vertical-align:middle" %)0|Single running|Stop after running one round. The segment number automatic increment switching.
1479 |(% style="text-align:center; vertical-align:middle" %)1|Cycle running|Cycle running. The segment number automatic increment switching.
1480 |(% 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
1481
1482 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"]]__
1483 )))
1484
1485 (% class="table-bordered" %)
1486 |(% 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**
1487 |(% style="text-align:center; vertical-align:middle" %)(((
1488 Starting position number
1489 )))|(% 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" %)-
1490 |(% colspan="8" %)(((
1491 Set the starting segment number in single running or cycle running.
1492
1493 When P07-01≠2, the segment number automatic increment switching.
1494
1495 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.
1496
1497 If DI terminal logic is valid, the value of internal multi-segment position segment selection is 1, otherwise it is 0.
1498
1499 (% class="table-bordered" %)
1500 |(% 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**
1501 |(% 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
1502 |(% 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
1503 |(% 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
1504 |(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
1505 |(% 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
1506 )))
1507
1508 (% class="table-bordered" %)
1509 |(% rowspan="2" %)**P07-03**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
1510 |(((
1511 End position number
1512 )))|Shutdown setting|Effective immediately|1|1 to 16|-|-
1513 |(% colspan="8" %)(((
1514 Set the end segment number in single running or cycle running.
1515
1516 When P07-01≠2, the segment number automatic increment switching. The switching sequence is: P07-02, ……, P07-03.
1517 )))
1518
1519 (% class="table-bordered" %)
1520 |(% 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**
1521 |(% style="text-align:center; vertical-align:middle" %)(((
1522 Margin handling method
1523 )))|(% 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" %)-
1524 |(% colspan="8" %)(((
1525 The starting segment number used for the servo drive will run when it resumes after pausing in multi-segment.
1526
1527 “Pause” indicates that internal multi-segment position enable signal changes from valid to invalid.
1528
1529 (% class="table-bordered" %)
1530 |(% 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**
1531 |(% 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.
1532 |(% 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
1533
1534 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__
1535 )))
1536
1537 (% class="table-bordered" %)
1538 |(% 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**
1539 |(% 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" %)-
1540 |(% 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.(((
1541 (% class="table-bordered" %)
1542 |(% 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**
1543 |(% 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.
1544 |(% 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
1545 )))
1546
1547 (% class="table-bordered" %)
1548 |(% 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**
1549 |(% style="text-align:center; vertical-align:middle" %)(((
1550 Waiting time unit
1551 )))|(% 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" %)-
1552 |(% 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.(((
1553 (% class="table-bordered" %)
1554 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Waiting time unit**
1555 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)ms
1556 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)s
1557 )))
1558
1559 (% class="table-bordered" %)
1560 |(% 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**
1561 |(% 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" %)-
1562 |(% colspan="8" %)Set the 1st segment position displacement
1563
1564 (% class="table-bordered" %)
1565 |(% 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**
1566 |(% 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
1567 |(% 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.
1568
1569 (% class="table-bordered" %)
1570 |(% 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**
1571 |(% 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
1572 |(% 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.
1573
1574 (% class="table-bordered" %)
1575 |(% 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**
1576 |(% 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
1577 |(% 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
1578
1579 (% class="table-bordered" %)
1580 |(% 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**
1581 |(% style="text-align:center; vertical-align:middle" %)(((
1582 The 2nd segment displacement
1583 )))|(% 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" %)-
1584
1585 (% class="table-bordered" %)
1586 |(% 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**
1587 |(% 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
1588
1589 (% class="table-bordered" %)
1590 |(% 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**
1591 |(% 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
1592
1593 (% class="table-bordered" %)
1594 |(% 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**
1595 |(% 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
1596
1597 (% class="table-bordered" %)
1598 |(% 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**
1599 |(% style="text-align:center; vertical-align:middle" %)(((
1600 The 3rd segment displacement
1601 )))|(% 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" %)-
1602
1603 (% class="table-bordered" %)
1604 |(% 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**
1605 |(% 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
1606
1607 (% class="table-bordered" %)
1608 |(% 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**
1609 |(% 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
1610
1611 (% class="table-bordered" %)
1612 |(% 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**
1613 |(% 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
1614
1615 (% class="table-bordered" %)
1616 |(% 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**
1617 |(% style="text-align:center; vertical-align:middle" %)(((
1618 The 4th segment displacement
1619 )))|(% 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" %)-
1620
1621 (% class="table-bordered" %)
1622 |(% 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**
1623 |(% 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
1624
1625 (% class="table-bordered" %)
1626 |(% 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**
1627 |(% 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
1628
1629 (% class="table-bordered" %)
1630 |(% 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**
1631 |(% 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
1632
1633 (% class="table-bordered" %)
1634 |(% 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**
1635 |(% style="text-align:center; vertical-align:middle; width:229px" %)(((
1636 The 5th segment displacement
1637 )))|(% 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" %)-
1638
1639 (% class="table-bordered" %)
1640 |(% 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**
1641 |(% 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
1642
1643 (% class="table-bordered" %)
1644 |(% 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**
1645 |(% 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
1646
1647 (% class="table-bordered" %)
1648 |(% 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**
1649 |(% 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
1650
1651 (% class="table-bordered" %)
1652 |(% 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**
1653 |(% style="text-align:center; vertical-align:middle; width:241px" %)(((
1654 The 6th segment displacement
1655 )))|(% 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" %)-
1656
1657 (% class="table-bordered" %)
1658 |(% 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**
1659 |(% 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
1660
1661 (% class="table-bordered" %)
1662 |(% 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**
1663 |(% 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
1664
1665 (% class="table-bordered" %)
1666 |(% 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**
1667 |(% 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
1668
1669 (% class="table-bordered" %)
1670 |(% 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**
1671 |(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1672 The 7th segment displacement
1673 )))|(% 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" %)-
1674
1675 (% class="table-bordered" %)
1676 |(% 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**
1677 |(% 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
1678
1679 (% class="table-bordered" %)
1680 |(% 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**
1681 |(% 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
1682
1683 (% class="table-bordered" %)
1684 |(% 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**
1685 |(% 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
1686
1687 (% class="table-bordered" %)
1688 |(% 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**
1689 |(% style="text-align:center; vertical-align:middle; width:170px" %)(((
1690 The 8th segment displacement
1691 )))|(% 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" %)-
1692
1693 (% class="table-bordered" %)
1694 |(% 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**
1695 |(% 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
1696
1697 (% class="table-bordered" %)
1698 |(% 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**
1699 |(% 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
1700
1701 (% class="table-bordered" %)
1702 |(% 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**
1703 |(% 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
1704
1705 (% class="table-bordered" %)
1706 |(% 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**
1707 |(% style="text-align:center; vertical-align:middle; width:259px" %)(((
1708 The 9th segment displacement
1709 )))|(% 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" %)-
1710
1711 (% class="table-bordered" %)
1712 |(% 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**
1713 |(% 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
1714
1715 (% class="table-bordered" %)
1716 |(% 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**
1717 |(% 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
1718
1719 (% class="table-bordered" %)
1720 |(% 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**
1721 |(% 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
1722
1723 (% class="table-bordered" %)
1724 |(% 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**
1725 |(% style="text-align:center; vertical-align:middle; width:265px" %)(((
1726 The 10th segment displacement
1727 )))|(% 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" %)-
1728
1729 (% class="table-bordered" %)
1730 |(% 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**
1731 |(% 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
1732
1733 (% class="table-bordered" %)
1734 |(% 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**
1735 |(% 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
1736
1737 (% class="table-bordered" %)
1738 |(% 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**
1739 |(% 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
1740
1741 (% class="table-bordered" %)
1742 |(% 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**
1743 |(% style="text-align:center; vertical-align:middle; width:233px" %)(((
1744 The 11th segment displacement
1745 )))|(% 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" %)-
1746
1747 (% class="table-bordered" %)
1748 |(% 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**
1749 |(% 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
1750
1751 (% class="table-bordered" %)
1752 |(% 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**
1753 |(% 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
1754
1755 (% class="table-bordered" %)
1756 |(% 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**
1757 |(% 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
1758
1759 (% class="table-bordered" %)
1760 |(% 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**
1761 |(% style="text-align:center; vertical-align:middle" %)(((
1762 The 12th segment displacement
1763 )))|(% 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" %)-
1764
1765 (% class="table-bordered" %)
1766 |(% 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**
1767 |(% 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
1768
1769 (% class="table-bordered" %)
1770 |(% 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**
1771 |(% 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
1772
1773 (% class="table-bordered" %)
1774 |(% 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**
1775 |(% 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
1776
1777 (% class="table-bordered" %)
1778 |(% 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**
1779 |(% style="text-align:center; vertical-align:middle; width:252px" %)(((
1780 The 13th segment displacement
1781 )))|(% 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" %)-
1782
1783 (% class="table-bordered" %)
1784 |(% 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**
1785 |(% 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
1786
1787 (% class="table-bordered" %)
1788 |(% 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**
1789 |(% 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
1790
1791 (% class="table-bordered" %)
1792 |(% 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**
1793 |(% 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
1794
1795 (% class="table-bordered" %)
1796 |(% 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**
1797 |(% style="text-align:center; vertical-align:middle" %)(((
1798 The 14th segment displacement
1799 )))|(% 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" %)-
1800
1801 (% class="table-bordered" %)
1802 |(% 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**
1803 |(% 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
1804
1805 (% class="table-bordered" %)
1806 |(% 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**
1807 |(% 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
1808
1809 (% class="table-bordered" %)
1810 |(% 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**
1811 |(% 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
1812
1813 (% class="table-bordered" %)
1814 |(% 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**
1815 |(% style="text-align:center; vertical-align:middle; width:242px" %)(((
1816 The 15th segment displacement
1817 )))|(% 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" %)-
1818
1819 (% class="table-bordered" %)
1820 |(% 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**
1821 |(% 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
1822
1823 (% class="table-bordered" %)
1824 |(% 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**
1825 |(% 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
1826
1827 (% class="table-bordered" %)
1828 |(% 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**
1829 |(% 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
1830
1831 (% class="table-bordered" %)
1832 |(% 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**
1833 |(% style="text-align:center; vertical-align:middle; width:231px" %)(((
1834 The 16th segment displacement
1835 )))|(% 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" %)-
1836
1837 (% class="table-bordered" %)
1838 |(% 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**
1839 |(% 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
1840
1841 (% class="table-bordered" %)
1842 |(% 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**
1843 |(% 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
1844
1845 (% class="table-bordered" %)
1846 |(% 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**
1847 |(% 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
1848
1849 = **Group P10 Accessibility** =
1850
1851 (% class="table-bordered" %)
1852 |(% 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**
1853 |(% 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
1854 |(% colspan="8" %)Used to set JOG speed
1855
1856 (% class="table-bordered" %)
1857 |(% 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**
1858 |(% 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" %)-
1859 |(% colspan="8" %)Write 1 to factory reset
1860
1861 (% class="table-bordered" %)
1862 |(% 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**
1863 |(% 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" %)-
1864 |(% colspan="8" %)(((
1865 Fault reset operation selection
1866
1867 (% class="table-bordered" %)
1868 |(% 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**
1869 |(% style="text-align:center; vertical-align:middle; width:96px" %)0|(% style="width:138px" %)No operation|(% style="width:926px" %)-
1870 |(% 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.
1871
1872 ✎**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.
1873 )))
1874
1875 (% class="table-bordered" %)
1876 |(% 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**
1877 |(% 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" %)%
1878 |(% colspan="8" %)(((
1879 Set the time for code A-82 (Motor overload warning) and Er.34 (Motor overload protection fault) through this function code.
1880
1881 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.
1882 )))
1883
1884 (% class="table-bordered" %)
1885 |(% 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**
1886 |(% 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" %)-
1887 |(% colspan="8" %)(((
1888 This function code displays the motor code code of the motor currently recognized by the servo drive (including the last successful recognition).
1889
1890 ✎**Note:** It is necessary to connect the motor first, and then power on the drive. Otherwise, it will report “Er.27” (encoder disconnection fault) .
1891 )))
1892
1893 (% class="table-bordered" %)
1894 |(% 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**
1895 |(% 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" %)-
1896 |(% colspan="8" %)(((
1897 Used to clear the rotation number of multi-turn absolute encoder (U0-55), current position (U0-56) or clear the encoder fault alarms
1898
1899 (% class="table-bordered" %)
1900 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Function**
1901 |(% style="text-align:center; vertical-align:middle" %)0|No operation;
1902 |(% style="text-align:center; vertical-align:middle" %)1|Clear multi-turn data, encoder current position and encoder fault alarms
1903
1904 ✎**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.
1905 )))
1906
1907 (% class="table-bordered" %)
1908 |(% 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**
1909 |(% 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" %)-
1910 |(% colspan="8" %)(((
1911 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.
1912
1913 **✎Note:** Please do not modify the motor code code arbitrarily, otherwise, the motor may be damaged.
1914 )))
1915
1916 |(% rowspan="2" %)**P10-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
1917 |Multi-turn absolute encoder origin offset compensation|Operation setting|Effective immediately|0|2147483647 to 2147483646|Accessibility|-
1918 |(% colspan="8" %)P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
1919
1920 = **Group P12 Communication parameters** =
1921
1922 (% class="table-bordered" %)
1923 |(% 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**
1924 |(% 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" %)-
1925 |(% colspan="8" %)Set the Modbus communication address of servo drive
1926
1927 (% class="table-bordered" %)
1928 |(% 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**
1929 |(% 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 6|(% style="text-align:center; vertical-align:middle" %)Communication parameter|(% style="text-align:center; vertical-align:middle" %)-
1930 |(% 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.(((
1931 (% class="table-bordered" %)
1932 |(% 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**
1933 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)2400 bps|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)38400 bps
1934 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)4800 bps|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)57600 bps
1935 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)9600 bps|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)115200 bps
1936 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)19200 bps
1937 )))
1938
1939 (% class="table-bordered" %)
1940 |(% 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**
1941 |(% 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" %)-
1942 |(% 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.(((
1943 (% class="table-bordered" %)
1944 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Data format**
1945 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1 stop bit, no parity
1946 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 stop bit, odd parity
1947 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1 stop bit, even parity
1948 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2 stop bits, no parity
1949 )))
1950
1951 (% class="table-bordered" %)
1952 |(% 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**
1953 |(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1954 Write Modbus communication data to EEPROM
1955 )))|(% 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" %)-
1956 |(% colspan="8" %)(((
1957 Whether the function code written by the communication method is saved to EEPRO
1958
1959 (% class="table-bordered" %)
1960 |(% 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**
1961 |(% style="text-align:center; vertical-align:middle" %)0|Do not write to EEPROM, and do not save data after power failure;
1962 |(% style="text-align:center; vertical-align:middle" %)1|Write to EEPROM, and save data after power failure;
1963
1964 ✎**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.
1965 )))
1966
1967 (% class="table-bordered" %)
1968 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1969 **P12-05**
1970
1971 ☆
1972 )))|(% 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**
1973 |(% 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" %)-
1974 |(% colspan="8" %)(((
1975 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)
1976
1977 (% class="table-bordered" %)
1978 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Communication method**
1979 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)RS422 communication
1980 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)RS485 communication
1981
1982 ✎**Note:** **“☆”** indicates that only VD2F servo drive support this function code. The VD2-0XXSA1G model does not have this function code.
1983 )))
1984
1985 = **Group P13 Communication input and output terminal** =
1986
1987 (% class="table-bordered" %)
1988 |(% 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**
1989 |(% 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" %)-
1990 |(% colspan="8" %)When P06-04 is set to 1, DI_1 channel logic is controlled by this function code.(((
1991 (% class="table-bordered" %)
1992 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDI_1 input level**
1993 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
1994 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
1995 )))
1996
1997 (% class="table-bordered" %)
1998 |(% 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**
1999 |(% 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" %)-
2000 |(% colspan="8" %)When P06-07 is set to 1, DI_2 channel logic is controlled by this function code.
2001
2002 (% class="table-bordered" %)
2003 |(% 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**
2004 |(% 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" %)-
2005 |(% colspan="8" %)When P06-10 is set to 1, DI_3 channel logic is controlled by this function code.
2006
2007 (% class="table-bordered" %)
2008 |(% 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**
2009 |(% 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" %)-
2010 |(% colspan="8" %)When P06-13 is set to 1, DI_4 channel logic is controlled by this function code.
2011
2012 (% class="table-bordered" %)
2013 |(% 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**
2014 |(% 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" %)-
2015 |(% colspan="8" %)When P06-16 is set to 1, DI_5 channel logic is controlled by this function code.
2016
2017 (% class="table-bordered" %)
2018 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2019 **P13-06**
2020
2021 ☆
2022 )))|(% 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**
2023 |(% 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" %)-
2024 |(% colspan="8" %)(((
2025 When P06-19 is set to 1, DI_6 channel logic is controlled by this function code.
2026
2027 “☆” indicates that the VD2F servo drive does not support this function code.
2028 )))
2029
2030 (% class="table-bordered" %)
2031 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2032 **P13-07**
2033
2034 ☆
2035 )))|(% 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**
2036 |(% 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" %)-
2037 |(% colspan="8" %)(((
2038 When P06-22 is set to 1, DI_7 channel logic is controlled by this function code.
2039
2040 “☆” indicates that the VD2F servo drive does not support this function code.
2041 )))
2042
2043 (% class="table-bordered" %)
2044 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2045 **P13-08**
2046
2047 ☆
2048 )))|(% 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 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" %)-
2050 |(% colspan="8" %)(((
2051 When P06-25 is set to 1, DI_8 channel logic is controlled by this function code.
2052
2053 “☆” indicates that the VD2F servo drive does not support this function code.
2054 )))
2055
2056 (% class="table-bordered" %)
2057 |(% 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**
2058 |(% 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" %)-
2059 |(% colspan="8" %)Used to set the input level logic when the DO function selected by VDO_1 is valid(((
2060 (% class="table-bordered" %)
2061 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDo_1 input level**
2062 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
2063 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
2064 )))
2065
2066 (% class="table-bordered" %)
2067 |(% 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**
2068 |(% 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" %)-
2069
2070 (% class="table-bordered" %)
2071 |(% 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**
2072 |(% 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" %)-
2073
2074 (% class="table-bordered" %)
2075 |(% 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**
2076 |(% 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" %)-
2077
2078 = **Group U0 Universal monitoring** =
2079
2080 (% class="table-bordered" %)
2081 |(% 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**
2082 |(% 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
2083 |(% colspan="7" %)Display the status of servo drive.(((
2084 (% class="table-bordered" %)
2085 |(% 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**
2086 |(% 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
2087 |(% 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
2088 )))
2089
2090 (% class="table-bordered" %)
2091 |(% 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**
2092 |(% 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
2093 |(% colspan="7" %)Display the actual speed of servo drive. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
2094 (% class="table-bordered" %)
2095 |(% style="text-align:center; vertical-align:middle; width:576px" %)500 rpm display|(% style="text-align:center; vertical-align:middle; width:584px" %)-500 rpm display
2096 |(% 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]]
2097 )))
2098
2099 (% class="table-bordered" %)
2100 |(% 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**
2101 |(% 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
2102 |(% colspan="7" %)Display input speed instruction. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
2103 (% class="table-bordered" %)
2104 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
2105 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163722-1.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163726-2.jpeg]]
2106 )))
2107
2108 (% class="table-bordered" %)
2109 |(% 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**
2110 |(% 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
2111 |(% 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.(((
2112 (% class="table-bordered" %)
2113 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
2114 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160850-3.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160859-4.jpeg]]
2115 )))
2116
2117 (% class="table-bordered" %)
2118 |(% 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**
2119 |(% 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" %)(((
2120 Equivalent pulse deviation
2121 )))|(% style="text-align:center; vertical-align:middle" %)32-bit
2122 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2123 Display pulse deviation. If U0-05 is set to 32768, the display of servo drive panel is as below.
2124
2125 [[image:image-20220608162142-14.png]]
2126 )))
2127
2128 (% class="table-bordered" %)
2129 |(% 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**
2130 |(% 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
2131 |(% colspan="7" %)Display the input instruction pulse frequency of servo drive.
2132
2133 (% class="table-bordered" %)
2134 |(% 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**
2135 |(% 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" %)(((
2136 Equivalent pulse deviation
2137 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)32-bit
2138 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2139 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.
2140
2141 [[image:image-20220608162219-15.png]]
2142 )))
2143
2144 |(% rowspan="2" %)**U0-12**|**Monitoring name**|**Range**|**Category**|**Panel display**|**Unit**|**Data type**
2145 |Real-time torque value|-3000 to 3000|Universal|Decimal|0.1%|16-bit
2146
2147 (% class="table-bordered" %)
2148 |(% 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**
2149 |(% style="text-align:center; vertical-align:middle; width:511px" %)(((
2150 Encoder cumulative position (Lower 32 bits)
2151 )))|(% 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
2152
2153 (% class="table-bordered" %)
2154 |(% 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**
2155 |(% style="text-align:center; vertical-align:middle" %)(((
2156 Encoder cumulative position (High 32 bits)
2157 )))|(% 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
2158 |(% colspan="7" %)Display the cumulative data of encoder position. It is used with U0-13 cooperatively.
2159
2160 (% class="table-bordered" %)
2161 |(% 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**
2162 |(% style="text-align:center; vertical-align:middle" %)DI input signal status|(% style="text-align:center; vertical-align:middle" %)(((
2163 00000000 to 11111111
2164 )))|(% 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
2165 |(% colspan="7" %)(((
2166 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").
2167
2168 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.
2169
2170 (% style="text-align:center" %)
2171 [[image:image-20220707161021-6.jpeg]]
2172 )))
2173
2174 (% class="table-bordered" %)
2175 |(% 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**
2176 |(% style="text-align:center; vertical-align:middle" %)DO output signal status|(% style="text-align:center; vertical-align:middle" %)(((
2177 00000000 to 00001111
2178 )))|(% 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
2179 |(% colspan="7" %)(((
2180 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").
2181
2182 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.
2183
2184 (% style="text-align:center" %)
2185 [[image:image-20220707161122-7.jpeg]]
2186 )))
2187
2188 (% class="table-bordered" %)
2189 |(% 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**
2190 |(% 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
2191 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2192 Display the current load inertia ratio. If the load inertia ratio is 3 times (300%) , the panel of servo drive is displayed as below.
2193
2194 [[image:image-20220707161347-10.jpeg]]
2195 )))
2196
2197 (% class="table-bordered" %)
2198 |(% 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**
2199 |(% 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
2200 |(% style="text-align:center; vertical-align:middle; width:364px" %)Reserved**☆**
2201 |(% colspan="7" %)(((
2202 Display the actual sampling voltage of analog channel 1.
2203
2204 (% class="table-bordered" %)
2205 |(% style="text-align:center; vertical-align:middle" %)10.00V display|(% style="text-align:center; vertical-align:middle" %)-10.00V display
2206 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161301-8.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161307-9.jpeg]]
2207
2208 “☆” indicates that the VD2F servo drive does not have this monitoring.
2209 )))
2210
2211 (% class="table-bordered" %)
2212 |(% 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**
2213 |(% 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
2214 |(% style="text-align:center; vertical-align:middle; width:362px" %)Reserved**☆**
2215 |(% colspan="7" %)“☆” indicates that the VD2F servo drive does not have this monitoring.
2216
2217 (% class="table-bordered" %)
2218 |(% 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**
2219 |(% 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
2220
2221 (% class="table-bordered" %)
2222 |(% 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**
2223 |(% 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
2224
2225 (% class="table-bordered" %)
2226 |(% 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**
2227 |(% 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
2228 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2229 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.
2230
2231 [[image:image-20220707161618-11.jpeg]]
2232 )))
2233
2234 (% class="table-bordered" %)
2235 |(% 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**
2236 |(% 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
2237 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2238 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.
2239
2240 [[image:image-20220707161625-12.jpeg]]
2241 )))
2242
2243 (% class="table-bordered" %)
2244 |(% 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**
2245 |(% 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
2246 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2247 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.
2248
2249 [[image:image-20220707161633-13.jpeg]]
2250 )))
2251
2252 |(% 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**
2253 |(% 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
2254 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2255 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.
2256
2257 [[image:image-20220707161639-14.jpeg]]
2258 )))
2259
2260 (% class="table-bordered" %)
2261 |(% 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**
2262 |(% 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
2263 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2264 Display current mechanical angle of motor. 0 corresponds to a mechanical angle of 0 degree.
2265
2266 If the mechanical angle is 270°, the panel of servo drive is displayed as below.
2267
2268 [[image:image-20220707161852-15.jpeg]]
2269 )))
2270
2271 (% class="table-bordered" %)
2272 |(% 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**
2273 |(% 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
2274 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2275 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.
2276
2277 [[image:image-20220707161905-16.jpeg]]
2278
2279
2280 )))
2281
2282 (% class="table-bordered" %)
2283 |(% 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**
2284 |(% 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
2285 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2286 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.
2287
2288 [[image:image-20220707161912-17.jpeg]]
2289 )))
2290
2291 (% class="table-bordered" %)
2292 |(% 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**
2293 |(% 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
2294
2295 (% class="table-bordered" %)
2296 |(% 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**
2297 |(% 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
2298
2299 (% class="table-bordered" %)
2300 |(% 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**
2301 |(% 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
2302
2303 (% class="table-bordered" %)
2304 |(% 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**
2305 |(% 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
2306
2307 (% class="table-bordered" %)
2308 |(% 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**
2309 |(% 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
2310
2311 (% class="table-bordered" %)
2312 |(% 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**
2313 |(% 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
2314
2315 (% class="table-bordered" %)
2316 |(% 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**
2317 |(% 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
2318 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2319 Display current load torque percentage. If the current load torque percentage is 10.3%, the panel of servo drive is displayed as below.
2320
2321 [[image:image-20220707161956-18.jpeg]]
2322 )))
2323
2324 |(% 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**
2325 |(% 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
2326
2327 |(% 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**
2328 |(% 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
2329
2330 |(% 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**
2331 |(% 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
2332
2333 |(% 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**
2334 |(% 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
2335
2336 |(% 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**
2337 |(% 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
2338
2339 |(% 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**
2340 |(% 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
2341
2342 |(% 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**
2343 |(% 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
2344
2345 |(% 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**
2346 |(% 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
2347
2348 |(% 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**
2349 |(% 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
2350 |(% colspan="7" %)(((
2351 Display current Motor model code. Take WD80M-07530S-A1F (A026) as an example, the panel of servo drive is displayed as below.
2352
2353 (% style="text-align:center" %)
2354 [[image:image-20220707162054-20.jpeg]]
2355 )))
2356
2357 |(% 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**
2358 |(% 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
2359 |(% colspan="7" %)Display the single turn position feedback value of absolute encoder
2360
2361 |(% 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**
2362 |(% style="text-align:center; vertical-align:middle; width:338px" %)(((
2363 Circle numbers of multi-turn absolute encoder
2364 )))|(% 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
2365 |(% colspan="7" %)Display the circle number of multi-turn absolute encoder
2366
2367 |(% 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**
2368 |(% 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
2369 |(% colspan="7" %)Display the absolute position of motor (instruction unit). It is only valid is multi-turn absolute encoder motor
2370
2371 = **Group U1 Warning monitoring** =
2372
2373 |(% 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**
2374 |(% 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
2375 |(% colspan="7" %)(((
2376 If there is fault in servo drive, it would display the corresponding fault. If not, the panel displays “~-~--”.
2377
2378 Take the fault “encoder disconnect” as an example, the panel of servo drive is displayed as below.
2379
2380 |(% 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
2381 |(% 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]]
2382 )))
2383
2384 |(% 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**
2385 |(% 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
2386 |(% colspan="7" %)(((
2387 If there is warning in servo drive, it would display the corresponding warning. If not, the panel displays “~-~--”.
2388
2389 Take the warning“DI port configuration duplication” as an example, the panel is displayed as below.
2390
2391 |(% 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
2392 |(% 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]]
2393 )))
2394
2395 |(% 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**
2396 |(% 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
2397
2398 |(% 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**
2399 |(% 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
2400
2401 |(% 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**
2402 |(% 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
2403
2404 |(% 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**
2405 |(% 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
2406
2407 |(% 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**
2408 |(% 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
2409
2410 |(% 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**
2411 |(% 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
2412
2413 |(% 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**
2414 |(% 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
2415
2416 |(% 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**
2417 |(% 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
2418
2419 |(% 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**
2420 |(% 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
2421
2422 |(% 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**
2423 |(% 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
2424
2425 |(% 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**
2426 |(% 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
2427
2428 |(% 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**
2429 |(% 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
2430
2431 |(% 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**
2432 |(% 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
2433
2434 |(% 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**
2435 |(% 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
2436 |(% colspan="7" style="text-align:center; vertical-align:middle" %)Display the 1st fault code of the most recent of servo drive
2437
2438 |(% 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**
2439 |(% 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
2440
2441 |(% 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**
2442 |(% 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
2443
2444 |(% 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**
2445 |(% 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
2446
2447 |(% 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**
2448 |(% 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
2449
2450 |(% 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**
2451 |(% 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
2452 |(% colspan="7" %)Display the 1st warning code of the most recent of servo drive
2453
2454 |(% 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**
2455 |(% 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
2456
2457 |(% 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**
2458 |(% 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
2459
2460 |(% 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**
2461 |(% 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
2462
2463 |(% 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**
2464 |(% 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
2465
2466 = **Group U2 Device monitoring** =
2467
2468 |(% 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**
2469 |(% 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
2470 |(% colspan="7" %)(((
2471 Display the product series code of servo drive.
2472
2473 The product series code of VD2A and VD2B is 0x4432. The product series code of VD2F is 0x3246.
2474
2475 There are displayed as below.
2476
2477 [[image:image-20220707162607-24.jpeg]][[image:image-20220707162613-25.jpeg]]
2478 )))
2479
2480 |(% 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**
2481 |(% 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
2482 |(% colspan="7" %)Display the servo drive model.(((
2483 |(% 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**
2484 |(% 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
2485 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163100-29.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-014SA1G
2486 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163104-30.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-016SA1G
2487 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163110-31.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-019SA1G
2488 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163115-32.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-021SA1G
2489 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163123-33.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-025SA1G
2490 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163128-34.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-030SA1G
2491 |(% 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
2492 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163144-36.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2F-014SA1P
2493 )))
2494
2495 |(% 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**
2496 |(% 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
2497 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2498 |**U2-01 display**|**U2-02 display**|**U2-03 display**|**Model**
2499 |[[image:image-20220707165330-1.jpeg]]|[[image:image-20220707165334-2.jpeg]]|[[image:image-20220707165339-3.jpeg]]|(((
2500 VD2-021TA1G
2501 )))
2502 )))
2503
2504 |(% 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**
2505 |(% 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
2506 |(% colspan="7" %)(((
2507 Display the firmware version
2508
2509 Display format: X.YY. For example, 1.13. The panel is displayed as below.
2510
2511 (% style="text-align:center" %)
2512 [[image:image-20220707163242-37.jpeg]]
2513 )))
2514
2515 |(% 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**
2516 |(% 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
2517 |(% colspan="7" %)(((
2518 Display the hardware version (FPGA)
2519
2520 Display format: X.YY. For example, 1.01. The panel is displayed as below.
2521
2522 (% style="text-align:center" %)
2523 [[image:image-20220707163248-38.jpeg]]
2524 )))
2525
2526 |(% 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**
2527 |(% 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
2528 |(% style="text-align:center; vertical-align:middle" %)Firmware date (year) *
2529 |(% colspan="7" %)Display the year of manufacture of the VD2F drive firmware.
2530
2531 |(% 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**
2532 |(% 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
2533 |(% style="text-align:center; vertical-align:middle" %)Firmware date (month) *
2534 |(% colspan="7" %)Display the month of manufacture of the VD2F drive firmware.
2535
2536 |(% 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**
2537 |(% 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
2538 |(% style="text-align:center; vertical-align:middle; width:332px" %)Firmware date (day) *
2539 |(% colspan="7" %)(((
2540 Displays the production date of the VD2F drive firmware.
2541
2542 For example, the firmware production day of VD2F-014SA1P_V1.01 is January 10, 2022, the panel is displayed as below.
2543
2544 |(% 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**
2545 |(% 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]]
2546 )))
2547
2548 |(% 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**
2549 |(% 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
2550
2551 |(% 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**
2552 |(% 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
2553
2554 |(% 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**
2555 |(% 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
2556
2557 |(% 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**
2558 |(% 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
2559
2560 |(% 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**
2561 |(% 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
2562
2563 |(% 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**
2564 |(% 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
2565
2566 |(% 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**
2567 |(% 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
2568
2569 |(% 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**
2570 |(% 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