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Wiki source code of 09 Parameters

Version 79.1 by Mora Zhou on 2023/11/21 16:13
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1 = **Group P00 Basic settings** =
2
3 (% class="table-bordered" %)
4 |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle;" %)**P00-01**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle;" %)**Default**|=(% style="text-align: center; vertical-align: middle;" %)**Range**|=(% style="text-align: center; vertical-align: middle;" %)**Category**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
5 |=(% style="text-align: center; vertical-align: middle;" %)Control mode|(% style="text-align:center; vertical-align:middle" %)(((
6 Shutdown setting
7 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 6|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
8 |(% colspan="8" scope="row" %)(((
9 Used to set the control mode of servo drive
10
11 (% class="table-bordered" %)
12 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 121px;" %)**Setting value**|=(% style="text-align: center; vertical-align: middle; width: 145px;" %)**Control mode**|=(% style="text-align: center; vertical-align: middle;" %)**Remarks**
13 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)1|(% style="text-align:center; vertical-align:middle; width:145px" %)Position control|For position control parameter setting, please refer to __[[6.2 Position control mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HPositioncontrolmode]]__
14 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)2|(% style="text-align:center; vertical-align:middle; width:145px" %)Speed control|For speed control parameter setting, please refer to __[[6.3 Speed control mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedcontrolmode]]__
15 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)3|(% style="text-align:center; vertical-align:middle; width:145px" %)Torque control|For torque control parameter setting, please refer to __[[6.4 Torque control mode>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HTorquecontrolmode]]__
16 |=(% style="text-align: center; vertical-align: middle; width: 121px;" %)4|(% style="text-align:center; vertical-align:middle; width:145px" %)Position/speed mix control|A DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.(((
17 (% class="table-bordered" style="margin-left:auto; margin-right:auto; width:623px" %)
18 |=(% style="text-align: center; vertical-align: middle; width: 305px;" %)**MixModeSel terminal logic**|=(% style="text-align: center; vertical-align: middle; width: 316px;" %)**Control mode**
19 |(% style="text-align:center; vertical-align:middle; width:305px" %)Invalid|(% style="text-align:center; vertical-align:middle; width:316px" %)Position control
20 |(% style="text-align:center; vertical-align:middle; width:305px" %)Valid|(% style="text-align:center; vertical-align:middle; width:316px" %)Speed control
21 )))
22 |=(% scope="col" style="text-align: center; vertical-align: middle; width: 121px;" %)5|(% style="text-align:center; vertical-align:middle; width:145px" %)Position/torque mix control|A DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.(((
23 (% class="table-bordered" style="margin-left:auto; margin-right:auto; width:628px" %)
24 |=(% style="text-align: center; vertical-align: middle; width: 309px;" %)**MixModeSel terminal logic**|=(% style="text-align: center; vertical-align: middle; width: 317px;" %)**Control mode**
25 |(% style="text-align:center; vertical-align:middle; width:309px" %)Invalid|(% style="text-align:center; vertical-align:middle; width:317px" %)Position control
26 |(% style="text-align:center; vertical-align:middle; width:309px" %)Valid|(% style="text-align:center; vertical-align:middle; width:317px" %)Torque control
27 )))
28 |=(% scope="col" style="text-align: center; vertical-align: middle; width: 121px;" %)6|(% style="text-align:center; vertical-align:middle; width:145px" %)Speed/torque mix control|A DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.(((
29 (% class="table-bordered" style="margin-left:auto; margin-right:auto; width:636px" %)
30 |=(% style="text-align: center; vertical-align: middle; width: 312px;" %)**MixModeSel terminal logic**|=(% style="text-align: center; vertical-align: middle; width: 322px;" %)**Control mode**
31 |(% style="text-align:center; vertical-align:middle; width:312px" %)Invalid|(% style="text-align:center; vertical-align:middle; width:322px" %)Speed control
32 |(% style="text-align:center; vertical-align:middle; width:312px" %)Valid|(% style="text-align:center; vertical-align:middle; width:322px" %)Torque control
33 )))
34
35 When P00-01 is set to 4, 5 or 6, please refer to __[[6.5 Mixed control mode>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HMixedcontrolmode]]__.
36 )))
37
38 (% class="table-bordered" %)
39 |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle;" %)**P00-04**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle;" %)**Default**|=(% style="text-align: center; vertical-align: middle;" %)**Range**|=(% style="text-align: center; vertical-align: middle;" %)**Category**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
40 |=(% style="text-align: center; vertical-align: middle;" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
41 Shutdown setting
42 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
43 |(% colspan="8" scope="row" style="text-align:center; vertical-align:middle" %)(((
44 Set the forward rotation direction of the motor when looking at the motor axis.
45
46 (% class="table-bordered" %)
47 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Rotation direction**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
48 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Take CW as forward direction|(% style="text-align:center; vertical-align:middle" %)When looking at the motor axis, the rotation direction of the motor is clockwise
49 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Take CCW as forward direction|(% style="text-align:center; vertical-align:middle" %)When looking at the motor axis, the rotation direction of the motor is anticlockwise
50
51 (% style="text-align:center" %)
52 [[image:image-20220608155014-1.png||class="img-thumbnail"]]
53 )))
54
55 (% class="table-bordered" %)
56 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-05**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
57 |(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown method|(% style="text-align:center; vertical-align:middle" %)(((
58 Shutdown setting
59 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
60 |(% colspan="8" %)Set the forward rotation direction of the motor when looking at the motor axis.(((
61 (% class="table-bordered" %)
62 |=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Setting value**|=(% style="text-align: center; vertical-align: middle;" %)**Shutdown method**|=(% style="text-align: center; vertical-align: middle;" %)**Remarks**
63 |=(% style="text-align: center; vertical-align: middle;" %)0|(% style="text-align:center; vertical-align:middle" %)(((
64 Free shutdown.
65
66 The motor shaft remains free
67 )))|(% rowspan="2" %)(((
68 Please set reasonable shutdown according to the machinery and running requirement.
69
70 Please refer to __[[6.1.7 Servo shutdown>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HServoshutdown]]__
71 )))
72 |=(% style="text-align: center; vertical-align: middle;" %)1|(% style="text-align:center; vertical-align:middle" %)(((
73 Zero-speed shutdown.
74
75 The motor shaft remains free
76 )))
77 )))
78
79 (% class="table-bordered" %)
80 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P00-09**|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
81 |(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
82 Operation setting
83 )))|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(% style="text-align:center; vertical-align:middle" %)Basic setting|(% style="text-align:center; vertical-align:middle" %)-
84 |(% colspan="8" %)(((
85 Used to set the way in which braking energy is absorbed and released.
86
87 (% class="table-bordered" %)
88 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Braking resistor setting**|(% style="text-align:center; vertical-align:middle" %)**Remarks**
89 |(% style="text-align:center; vertical-align:middle" %)0|Use built-in braking resistor|(% rowspan="4" %)Please refer to __[[6.1.5 Braking resistor>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HBrakingresistor]]__ to choose the right braking method
90 |(% style="text-align:center; vertical-align:middle" %)1|Use external braking resistor and natural cooling
91 |(% style="text-align:center; vertical-align:middle" %)2|Use external braking resistor and forced air cooling (not settable)
92 |(% style="text-align:center; vertical-align:middle" %)3|No braking resistors are used, and all are absorbed by capacitance
93
94 (% class="box infomessage" %)
95 (((
96 ✎**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).
97 )))
98 )))
99
100 (% class="table-bordered" %)
101 |(% 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**
102 |(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
103 Operation setting
104 )))|(% 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
105 |(% colspan="8" %)(((
106 Used to set the power of external braking resistor of servo drive.
107
108 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.
109
110 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.
111
112 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.
113
114 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__.
115 )))
116
117 (% class="table-bordered" %)
118 |(% 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**
119 |(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
120 Operation setting
121 )))|(% 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
122 |(% 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.
123
124 (% class="table-bordered" %)
125 |(% 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**
126 |(% style="text-align:center; vertical-align:middle; width:306px" %)(((
127 Position pulse type selection
128 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
129 Operation setting
130 )))|(% style="text-align:center; vertical-align:middle; width:216px" %)(((
131 Power-on again
132 )))|(% 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" %)(((
133 Position mode
134 )))|(% style="text-align:center; vertical-align:middle; width:64px" %)-
135 |(% colspan="8" %)In position control mode, when position instruction source is pulse instruction (P01-06=0) , input pulse pattern.(((
136 (% class="table-bordered" %)
137 |(% 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**
138 |(% 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]]__
139 |(% style="text-align:center; vertical-align:middle" %)1|CW/CCW
140 |(% style="text-align:center; vertical-align:middle" %)2|AB phase orthogonal pulse (4 times frequency)
141 |(% style="text-align:center; vertical-align:middle" %)3|Direction + pulse (negative logic)
142 |(% style="text-align:center; vertical-align:middle" %)4|CW/CCW (negative logic)
143 |(% style="text-align:center; vertical-align:middle" %)5|AB phase orthogonal pulse (4 times frequency negative logic)
144 )))
145
146 (% class="table-bordered" %)
147 |(% 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**
148 |(% style="text-align:center; vertical-align:middle" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle" %)(((
149 Shutdown setting
150 )))|(% 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" %)(((
151 Position mode
152 )))|(% style="text-align:center; vertical-align:middle" %)KHz
153 |(% 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).
154
155 (% class="table-bordered" %)
156 |(% 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**
157 |(% style="text-align:center; vertical-align:middle; width:333px" %)(((
158 Position pulse anti-interference level
159 )))|(% style="text-align:center; vertical-align:middle; width:178px" %)(((
160 Operation setting
161 )))|(% style="text-align:center; vertical-align:middle; width:208px" %)(((
162 Power-on again
163 )))|(% 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" %)(((
164 Position mode
165 )))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
166 |(% colspan="8" %)In position control mode, filter the input pulse. The larger the P00-14 setting value, the greater the filter depth.(((
167 (% class="table-bordered" %)
168 |(% 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**
169 |(% 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
170 |(% 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
171 |(% 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
172 |(% 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
173 |(% 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
174 )))
175
176 (% class="table-bordered" %)
177 |(% 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**
178 |(% 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" %)(((
179 Shutdown setting
180 )))|(% 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" %)(((
181 Position mode
182 )))|(% style="text-align:center; vertical-align:middle" %)W
183 |(% colspan="8" %)Used to set the number of instruction pulses required for per turn of motor
184
185 (% class="table-bordered" %)
186 |(% 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**
187 |(% style="text-align:center; vertical-align:middle; width:233px" %)(((
188 Electronic gear 1 numerator
189 )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
190 Operationsetting
191 )))|(% 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" %)(((
192 Position mode
193 )))|(% style="text-align:center; vertical-align:middle" %)W
194 |(% 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.
195
196 (% class="table-bordered" %)
197 |(% 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**
198 |(% style="text-align:center; vertical-align:middle; width:216px" %)(((
199 Electronic gear 1 denominator
200 )))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
201 Operation setting
202 )))|(% 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" %)(((
203 Position mode
204 )))|(% style="text-align:center; vertical-align:middle" %)W
205 |(% 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.
206
207 (% class="table-bordered" %)
208 |(% 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**
209 |(% style="text-align:center; vertical-align:middle; width:212px" %)(((
210 Electronic gear 2 numerator
211 )))|(% style="text-align:center; vertical-align:middle; width:198px" %)(((
212 Operation setting
213 )))|(% 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" %)(((
214 Position mode
215 )))|(% style="text-align:center; vertical-align:middle" %)W
216 |(% 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.
217
218 (% class="table-bordered" %)
219 |(% 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**
220 |(% style="text-align:center; vertical-align:middle; width:218px" %)(((
221 Electronic gear 2 denominator
222 )))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
223 Operation setting
224 )))|(% 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" %)(((
225 Position mode
226 )))|(% style="text-align:center; vertical-align:middle" %)W
227 |(% 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.
228
229 (% class="table-bordered" %)
230 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:83px" %)(((
231 **P00-21**
232
233 ☆
234 )))|(% 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**
235 |(% style="text-align:center; vertical-align:middle; width:200px" %)Pulse frequency division output direction|(% style="text-align:center; vertical-align:middle; width:215px" %)(((
236 Operation setting
237 )))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
238 Power-on again
239 )))|(% 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" %)(((
240 Position mode
241 )))|(% style="text-align:center; vertical-align:middle" %)-
242 |(% colspan="8" %)Used to set the pulse frequency division output direction(((
243 (% class="table-bordered" %)
244 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Output direction**
245 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)CW is forward direction (A is ahead of B)
246 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)CCW is forward direction (A is ahead of B)
247 )))
248
249 “☆” indicates that the VD2F servo drive does not support this function code.
250
251 (% class="table-bordered" %)
252 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:98px" %)(((
253 **P00-22**
254
255 ☆
256 )))|(% 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**
257 |(% 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" %)(((
258 Operation setting
259 )))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
260 Power-on again
261 )))|(% 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" %)(((
262 Position mode
263 )))|(% style="text-align:center; vertical-align:middle" %)-
264 |(% 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.
265
266 “☆” indicates that the VD2F servo drive does not support this function code.
267
268 (% class="table-bordered" %)
269 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:92px" %)(((
270 **P00-23**
271
272 ☆
273 )))|(% 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**
274 |(% style="text-align:center; vertical-align:middle; width:207px" %)Z pulse output OZ polarity|(% style="text-align:center; vertical-align:middle; width:201px" %)(((
275 Operation setting
276 )))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
277 Power-on again
278 )))|(% 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" %)-
279 |(% colspan="8" %)Used to set the level logic of Z pulse(((
280 (% class="table-bordered" %)
281 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Output direction**
282 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level
283 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level
284 )))
285
286 (% class="table-bordered" %)
287 |(% 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**
288 |(% 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" %)(((
289 Position mode
290 )))|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
291 |(% colspan="8" %)(((
292 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).
293
294 When the function code is set to 0, positional bias is ignored.
295 )))
296
297 (% class="table-bordered" %)
298 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:86px" %)(((
299 **P00-27**
300
301 ☆
302 )))|(% 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**
303 |(% style="text-align:center; vertical-align:middle; width:298px" %)Pulse output frequency division numerator|(% style="text-align:center; vertical-align:middle; width:196px" %)(((
304 Operation setting
305 )))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
306 Power-on again
307 )))|(% 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" %)-
308 |(% 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)
309
310 “☆” indicates that the VD2F servo drive does not support this function code.
311
312 (% class="table-bordered" %)
313 |(% rowspan="2" style="text-align:center; vertical-align:middle; width:87px" %)(((
314 **P00-28**
315
316 ☆
317 )))|(% 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**
318 |(% style="text-align:center; vertical-align:middle; width:299px" %)Pulse output frequency division denominator|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
319 Operation setting
320 )))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
321 Power-on again
322 )))|(% 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" %)-
323 |(% 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)
324
325 “☆” indicates that the VD2F servo drive does not support this function code.
326
327 (% class="table-bordered" %)
328 |(% 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**
329 |(% 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" %)-
330 |(% colspan="8" %)The equivalent position unit of one circle of the motor
331
332 (% class="table-bordered" %)
333 |(% 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**
334 |(% 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" %)(((
335 Operation setting
336 )))|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
337 Power-on again
338 )))|(% 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" %)-
339 |(% colspan="8" %)Used to set multi-turn absolute encoder battery fault alarm setting function. (VD2-SA V1.13 firmware added)(((
340 (% class="table-bordered" %)
341 |(% 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**
342 |(% 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]]__.
343 |(% 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.
344 )))
345
346 |(% rowspan="2" style="width:70px" %)**P00-31**|(% style="width:188px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
347 |(% style="width:188px" %)Encoder read-write check abnormal frequency|Operation setting|Effective immediately|20|0 to 100|Basic setting|-
348 |(% colspan="8" %)(((
349 0: no alarm
350
351 Other values: After exceeding this set value, A93 encoder read/write verification abnormal frequency warning will be reported.
352 )))
353
354 = **Group P01 Control parameters** =
355
356 (% class="table-bordered" %)
357 |(% 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**
358 |(% 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" %)-
359 |(% colspan="8" %)(((
360 Select speed instruction source
361
362 (% class="table-bordered" %)
363 |(% 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**
364 |(% 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]]__.
365 |(% 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" %)(((
366 External speed instruction. Please refer to __[[4 Wiring>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
367 )))
368
369 “*” indicates that the VD2F servo drive does not support this function code.
370 )))
371
372 (% class="table-bordered" %)
373 |(% 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**
374 |(% 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" %)(((
375 -5000 to 5000
376 )))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Speed mode|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
377 |(% style="text-align:center; vertical-align:middle" %)-5000 to 5000*
378 |(% 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.
379
380 (% class="table-bordered" %)
381 |(% 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**
382 |(% 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
383 |(% colspan="8" %)(((
384 The time that the speed instruction accelerates from 0 to 1000 rpm.
385
386 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]]__
387 )))
388
389 (% class="table-bordered" %)
390 |(% 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**
391 |(% 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
392 |(% colspan="8" %)(((
393 The time that the speed instruction decelerates from 1000 to 0 rpm.
394
395 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]]__
396 )))
397
398 |(% rowspan="2" %)**P01-05**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
399 |Shutdown deceleration time|Shutdown setting|Effective immediately|50|0 to 65535|-|ms
400 |(% colspan="8" %)The time for the speed command to decelerate from 1000rpm to 0
401
402 (% class="table-bordered" %)
403 |(% 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**
404 |(% 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" %)-
405 |(% colspan="8" %)(((
406 Used to select position instruction source when servo drive is in position control mode.
407
408 (% class="table-bordered" %)
409 |(% 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**
410 |(% 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]]__
411 |(% 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]]__.
412
413 “*” indicates that the VD2F servo drive does not support this function code.
414 )))
415
416 (% class="table-bordered" %)
417 |(% 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**
418 |(% style="text-align:center; vertical-align:middle" %)(((
419 Torque instruction source
420 )))|(% 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" %)-
421 |(% colspan="8" %)(((
422 Used to select torque instruction source when servo drive is in torque control mode.
423
424 (% class="table-bordered" %)
425 |(% 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**
426 |(% 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]]__
427 |(% 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]]__
428
429 “*” indicates that the VD2F servo drive does not support this instruction source
430 )))
431
432 (% class="table-bordered" %)
433 |(% 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**
434 |(% 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%
435 |(% colspan="14" %)Used to set the required torque instruction value when P01-07 is set to 0 (internal torque instruction).
436 |(% 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**
437 |(% 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" %)-
438 |(% colspan="14" %)(((
439 Used to set speed limit source when servo drive is in torque control mode.
440
441 (% class="table-bordered" %)
442 |(% 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**
443 |(% 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]]__
444 |(% 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]]__
445
446 “*” indicates that the VD2F servo drive does not support this instruction source.
447 )))
448
449 (% class="table-bordered" %)
450 |(% 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**
451 |(% 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
452 |(% 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).
453
454 (% class="table-bordered" %)
455 |(% 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**
456 |(% 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
457 |(% 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).
458
459 (% class="table-bordered" %)
460 |(% 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**
461 |(% 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
462 |(% colspan="8" %)Used to set the limit value of forward speed
463
464 (% class="table-bordered" %)
465 |(% 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**
466 |(% 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
467 |(% colspan="8" %)Used to set the limit value of reverse speed
468
469 (% class="table-bordered" %)
470 |(% 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**
471 |(% 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" %)-
472 |(% colspan="8" %)Used to select torque instruction source when servo drive is in torque control mode.(((
473 (% class="table-bordered" %)
474 |(% 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**
475 |(% 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]]__
476 |(% 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]]__
477 )))
478
479 (% class="table-bordered" %)
480 |(% 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**
481 |(% style="text-align:center; vertical-align:middle; width:169px" %)(((
482 Forward torque limit
483 )))|(% style="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%
484 |(% colspan="8" %)Used to set the limit value of forward speed
485
486 (% class="table-bordered" %)
487 |(% 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**
488 |(% style="text-align:center; vertical-align:middle; width:194px" %)(((
489 Reverse torque limit
490 )))|(% 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%
491 |(% colspan="8" %)(((
492 When P01-14 is set to 0 ()internal) , the setting value of this function code is reverse torque limit value.
493
494 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]]__.
495 )))
496
497 (% class="table-bordered" %)
498 |(% 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**
499 |(% 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
500 |(% 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]]__
501 |(% 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**
502 |(% 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
503 |(% 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]]__
504
505 (% class="table-bordered" %)
506 |(% 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**
507 |(% 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
508 |(% colspan="8" %)(((
509 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”.
510
511 ✎**Note:** When this function code is set to 0, saturation timeout fault detection would not be performed, and ignore this fault,
512 )))
513
514 (% class="table-bordered" %)
515 |(% 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**
516 |(% 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" %)-
517 |(% 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]]__(((
518 (% class="table-bordered" %)
519 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Function**
520 |(% style="text-align:center; vertical-align:middle" %)0|Force speed to 0
521 |(% 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
522 |(% 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
523 |(% style="text-align:center; vertical-align:middle" %)3|Invalid. Ignore zero-speed clamp input
524 )))
525
526 (% class="table-bordered" %)
527 |(% 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**
528 |(% 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" %)(((
529 0 to 5000
530 )))|(% style="text-align:center; vertical-align:middle; width:127px" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)rpm
531 |(% 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]]__.
532
533 |(% rowspan="2" %)**P01-23**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
534 |(((
535 Internal speed
536
537 Instruction 1
538 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
539 |(% colspan="8" %)(((
540 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.
541
542 |**INSPD3**|**INSPD2**|**INSPD1**|**Internal speed instruction segment number**
543 |0|0|0|0
544 |0|0|1|1
545 |0|1|0|2
546 |(% colspan="4" %)…………
547 |1|1|1|7
548
549 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]]
550 )))
551
552 |(% rowspan="2" %)(((
553
554
555 **P01-24**
556 )))|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
557 |(((
558 Internal speed
559
560 Instruction 2
561 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
562 |(% colspan="8" %)Used to set the speed value of internal speed instruction 2.
563
564 |(% rowspan="2" %)**P01-25**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
565 |(((
566 Internal speed
567
568 Instruction 3
569 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
570 |(% colspan="8" %)Used to set the speed value of internal speed instruction 3.
571 |(% rowspan="2" %)**P01-26**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
572 |(((
573 Internal speed
574
575 Instruction 4
576 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
577 |(% colspan="8" %)Used to set the speed value of internal speed instruction 4.
578
579 |(% rowspan="2" %)**P01-27**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
580 |(((
581 Internal speed
582
583 Instruction 5
584 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
585 |(% colspan="8" %)Used to set the speed value of internal speed instruction 5.
586
587 |(% rowspan="2" %)**P01-28**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
588 |(((
589 Internal speed
590
591 Instruction 6
592 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
593 |(% colspan="8" %)Used to set the speed value of internal speed instruction 6.
594
595 |(% rowspan="2" %)**P01-29**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
596 |(((
597 Internal speed
598
599 Instruction 7
600 )))|Operation setting|Effective immediately|0|-5000 to 5000|Speed mode|rpm
601 |(% colspan="8" %)Used to set the speed value of internal speed instruction 7.
602
603 |(% rowspan="2" %)**P01-30**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
604 |Delay from brake output ON to instruction reception|Operation setting|Effective immediately|250|0 to 500|-|rpm
605 |(% 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]].
606
607 (% class="table-bordered" %)
608 |(% 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**
609 |(% 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
610 |(% 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]]__.
611
612 (% class="table-bordered" %)
613 |(% 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**
614 |(% 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
615 |(% 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]]__.
616
617 |(% rowspan="2" %)**P01-33**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
618 |Rotation status, delay from servo enable OFF to brake output OFF|Operation setting|500| |1 to 1000|-|rpm
619 |(% 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]].
620
621 = **Group P02 Gain adjustment** =
622
623 (% class="table-bordered" %)
624 |(% 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**
625 |(% 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
626 |(% colspan="8" %)Set the proportional gain of the 1st position loop to determine the responsiveness of position control system.
627
628 (% class="table-bordered" %)
629 |(% 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**
630 |(% 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
631 |(% colspan="8" %)Set the proportional gain of the 1st speed loop to determine the responsiveness of speed loop.
632
633 (% class="table-bordered" %)
634 |(% 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**
635 |(% style="text-align:center; vertical-align:middle" %)1st speed loop integral time constant|(% style="text-align:center; vertical-align:middle" %)(((
636 Operation setting
637 )))|(% 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
638 |(% colspan="8" %)Set the 1st speed loop integral constant. The smaller the set value, the stronger the integral effect.
639
640 (% class="table-bordered" %)
641 |(% 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**
642 |(% 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
643 |(% colspan="8" %)Set the proportional gain of the 2nd position loop to determine the responsiveness of position control system.
644
645 (% class="table-bordered" %)
646 |(% 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**
647 |(% 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
648 |(% colspan="8" %)Set the proportional gain of the 2nd speed loop to determine the responsiveness of speed loop.
649
650 (% class="table-bordered" %)
651 |(% 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**
652 |(% style="text-align:center; vertical-align:middle" %)2nd speed loop integral time constant|(% style="text-align:center; vertical-align:middle" %)(((
653 Operation setting
654 )))|(% 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
655 |(% colspan="8" %)Set the 2nd speed loop integral constant. The smaller the set value, the stronger the integral effect.
656
657 (% class="table-bordered" %)
658 |(% 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**
659 |(% style="text-align:center; vertical-align:middle" %)2nd gain switching mode|(% style="text-align:center; vertical-align:middle" %)(((
660 Operation setting
661 )))|(% 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" %)-
662 |(% colspan="8" %)Used to set the 2nd gain switching mode.(((
663 (% class="table-bordered" %)
664 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Definition**
665 |(% style="text-align:center; vertical-align:middle" %)0|Switch by DI terminal
666 |(% style="text-align:center; vertical-align:middle" %)1|Speed instruction change rate is too large
667 |(% style="text-align:center; vertical-align:middle" %)2|Large position deviation
668 |(% style="text-align:center; vertical-align:middle" %)3|None
669 )))
670
671 |(% 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**
672 |(% 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" %)
673 |(% colspan="8" %)(((
674 Set the conditions for gain switching.
675
676 |(% 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**
677 |(% 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
678 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((
679 Use DI function 10 (GAIN-SEL, gain switching);
680
681 DI logic is invalid: the first gain (P02-01~~P02-03);
682
683 DI logic is valid: the second gain (P02-04~~P02-06).
684 )))
685 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
686 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
687
688 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.
689 )))
690 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
691 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
692
693 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.
694 )))
695 |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
696 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
697
698 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.
699 )))
700 |(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
701 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
702
703 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.
704 )))
705 |(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
706 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;
707
708 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.
709 )))
710 |(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
711 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
712
713 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.
714 )))
715 |(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
716 In the previous first gain, if the position command is not 0, switch to the second gain;
717
718 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
719 )))
720 |(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
721 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.
722 )))
723 |(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
724 In the previous first gain, if the position command is not 0, the second gain is switched;
725
726 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).
727 )))
728
729 (% class="table-bordered" %)
730 |(% 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**
731 |(% style="text-align:center; vertical-align:middle" %)Speed feedforward gain|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
732 Operation setting
733 )))|(% 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%
734 |(% colspan="8" %)Set speed feedforward gain
735
736 (% class="table-bordered" %)
737 |(% 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**
738 |(% style="text-align:center; vertical-align:middle" %)Speed feedforward filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
739 Operation setting
740 )))|(% 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
741 |(% colspan="8" %)Set the time constant of one delay filter related to the speed feedforward input.
742
743 |(% 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**
744 |(% style="text-align:center; vertical-align:middle" %)Torque feedforward gain|(% style="text-align:center; vertical-align:middle" %)(((
745 Operation setting
746 )))|(% 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%
747 |(% colspan="8" %)Set torque feedforward gain
748
749 (% class="table-bordered" %)
750 |(% 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**
751 |(% style="text-align:center; vertical-align:middle" %)Torque feedforward filter time constant|(% style="text-align:center; vertical-align:middle" %)(((
752 Operation setting
753 )))|(% 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
754 |(% colspan="8" %)Set the time constant of one delay filter related to the torque feedforward input.
755 )))
756
757 |(% 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**
758 |(% 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
759 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
760 The duration of the switching condition required for the second gain to switch back to the first gain.
761
762 [[image:20230516P0213.png]]
763
764 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
765 )))
766
767 |(% 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**
768 |(% 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
769 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
770 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
771
772 [[image:20230516P0214.png]]
773 )))
774
775 |(% 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**
776 |(% 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
777 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
778 Set the hysteresis to meet the gain switching condition.
779
780 [[image:20230516P0215.png]]
781 )))
782
783 |(% 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**
784 |(% 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
785 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
786 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
787
788 [[image:20230516P0216.png]]
789
790 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
791 )))
792
793 |(% 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**
794 |(% 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" %)
795 |(% colspan="8" %)(((
796 Set 1 to enable the model tracking control function.
797 )))
798
799 |(% 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**
800 |(% 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
801 |(% colspan="8" %)(((
802 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.
803 )))
804
805 |(% 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**
806 |(% 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%
807 |(% colspan="8" %)(((
808 The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.
809 )))
810
811 |(% 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**
812 |(% 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%
813 |(% colspan="8" %)(((
814 Torque feedforward size in the positive direction under model tracking control.
815 )))
816
817 |(% 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**
818 |(% 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%
819 |(% colspan="8" %)(((
820 Torque feedforward size in the reverse direction under model tracking control.
821 )))
822
823 |(% 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**
824 |(% style="text-align:center" %)Model tracking control speed feedforward compensation|(% style="text-align:center" %)Operation
825 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%
826 |(% colspan="8" %)(((
827 The size of the speed feedforward under model tracking control.
828 )))
829
830 = **Group P03 Self-adjusting parameters** =
831
832 (% class="table-bordered" %)
833 |(% 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**
834 |(% style="text-align:center; vertical-align:middle; width:214px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
835 Operation setting
836 )))|(% 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
837 |(% colspan="8" %)(((
838 Set load inertia ratio: 0.00 to 100.00 times.
839
840 “*” indicates that the factory defaults for different models may differ.
841 )))
842
843 (% class="table-bordered" %)
844 |(% 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**
845 |(% style="text-align:center; vertical-align:middle; width:243px" %)Load rigidity grade selection|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
846 Operation setting
847 )))|(% 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" %)-
848 |(% 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.
849
850 (% class="table-bordered" %)
851 |(% 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**
852 |(% style="text-align:center; vertical-align:middle; width:212px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:182px" %)(((
853 Operation setting
854 )))|(% 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" %)-
855 |(% 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.(((
856 (% class="table-bordered" %)
857 |(% 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**
858 |(% 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.
859 |(% 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
860 |(% style="text-align:center; vertical-align:middle; width:116px" %)2|(% style="width:177px" %)Online automatic self-adjusting mode|Not implemented yet
861 )))
862
863 (% class="table-bordered" %)
864 |(% 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**
865 |(% style="text-align:center; vertical-align:middle; width:283px" %)Online inertia recognition sensitivity|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
866 Operation setting
867 )))|(% 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" %)-
868 |(% colspan="8" %)Not implemented yet.
869
870 (% class="table-bordered" %)
871 |(% 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**
872 |(% 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
873 |(% colspan="8" %)Offline load inertia recognition process, motor rotation number setting
874
875 (% class="table-bordered" %)
876 |(% 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**
877 |(% style="text-align:center; vertical-align:middle; width:247px" %)(((
878 Inertia recognition maximum speed
879 )))|(% 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
880 |(% 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.
881
882 (% class="table-bordered" %)
883 |(% 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**
884 |(% style="text-align:center; vertical-align:middle; width:280px" %)(((
885 Parameter recognition rotation direction
886 )))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
887 Shutdown setting
888 )))|(% 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" %)-
889 |(% colspan="8" %)Set parameter recognition rotation direction(((
890 (% class="table-bordered" %)
891 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Rotation direction**
892 |(% style="text-align:center; vertical-align:middle" %)0|Forward and reverse reciprocating rotation
893 |(% style="text-align:center; vertical-align:middle" %)1|Forward one-way rotation
894 |(% style="text-align:center; vertical-align:middle" %)2|Reverse one-way rotation
895 )))
896
897 (% class="table-bordered" %)
898 |(% 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**
899 |(% style="text-align:center; vertical-align:middle" %)(((
900 Parameter recognition waiting time
901 )))|(% style="text-align:center; vertical-align:middle" %)(((
902 Shutdown setting
903 )))|(% 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
904 |(% colspan="8" %)During offline inertia recognition, the time interval between two consecutive speed instructions
905
906 = **Group P04 Vibration suppression** =
907
908 (% class="table-bordered" %)
909 |(% 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**
910 |(% style="text-align:center; vertical-align:middle" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle" %)(((
911 Shutdown setting
912 )))|(% 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" %)-
913 |(% colspan="8" %)(((
914 (% class="table-bordered" %)
915 |(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**Filtering method**
916 |(% style="text-align:center; vertical-align:middle" %)0|First-order low-pass filter
917 |(% style="text-align:center; vertical-align:middle" %)1|Average filtering
918 )))
919
920 (% class="table-bordered" %)
921 |(% 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**
922 |(% 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" %)(((
923 Shutdown setting
924 )))|(% 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
925 |(% colspan="8" %)Used to set position instructions first-order low-pass filtering time constant.(((
926 (% class="table-bordered" %)
927 |(% 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]]
928 |(% 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]]
929 )))
930
931 (% class="table-bordered" %)
932 |(% 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**
933 |(% style="text-align:center; vertical-align:middle" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle" %)(((
934 Shutdown setting
935 )))|(% 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
936 |(% colspan="8" %)Used to set average filtering time constant.(((
937 (% class="table-bordered" %)
938 |(% 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]]
939 |(% 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]]
940 )))
941
942 (% class="table-bordered" %)
943 |(% 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**
944 |(% 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
945 |(% 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]]__
946
947 (% class="table-bordered" %)
948 |(% 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**
949 |(% style="text-align:center; vertical-align:middle" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
950 Operation setting
951 )))|(% 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
952 |(% colspan="8" %)(((
953 Set the center frequency of the 1st notch filter.
954
955 When the function code is set to 5000, the function of the notch filter is invalid.
956 )))
957
958 (% class="table-bordered" %)
959 |(% 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**
960 |(% style="text-align:center; vertical-align:middle" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
961 Operation setting
962 )))|(% 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" %)-
963 |(% colspan="8" %)(((
964 Set the notch filter depth grade (the ratio between input and output at the center frequency of the notch filter)
965
966 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]]__
967 )))
968
969 (% class="table-bordered" %)
970 |(% 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**
971 |(% style="text-align:center; vertical-align:middle" %)1st notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
972 Operation setting
973 )))|(% 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" %)-
974 |(% colspan="8" %)Set the notch filter width grade (the ratio between input and output at the center frequency of the notch filter)
975
976 (% class="table-bordered" %)
977 |(% 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**
978 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle" %)(((
979 Operation setting
980 )))|(% 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
981 |(% colspan="8" %)(((
982 Set the center frequency of the 1st notch filter.
983
984 When the function code is set to 5000, the function of the notch filter is invalid.
985 )))
986
987 (% class="table-bordered" %)
988 |(% 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**
989 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle" %)(((
990 Operation setting
991 )))|(% 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" %)-
992
993 (% class="table-bordered" %)
994 |(% 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**
995 |(% style="text-align:center; vertical-align:middle" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle" %)(((
996 Operation setting
997 )))|(% 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" %)-
998
999 |(% 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**
1000 |(% style="text-align:center; vertical-align:middle" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle" %)(((
1001 Operation setting
1002 )))|(% 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" %)
1003 |(% colspan="8" %)(((
1004 When the function code is set to 1, enable the low-frequency vibration suppression function.
1005 )))
1006
1007 |(% 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**
1008 |(% style="text-align:center; vertical-align:middle" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
1009 Operation setting
1010 )))|(% 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
1011 |(% colspan="8" %)(((
1012 Set the center frequency of the 1st notch filter.
1013
1014 When the function code is set to 5000, the function of the notch filter is invalid.
1015 )))
1016
1017 |(% 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**
1018 |(% style="text-align:center; vertical-align:middle" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle" %)(((
1019 Operation setting
1020 )))|(% 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
1021 |(% colspan="8" %)(((
1022 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.
1023 )))
1024
1025 |(% 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**
1026 |(% style="text-align:center; vertical-align:middle" %)Speed feedback filtering time|(% style="text-align:center; vertical-align:middle" %)(((
1027 Operation setting
1028 )))|(% 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
1029 |(% colspan="8" %)(((
1030 Wave filtering of the feedback speed of the encoder. When the filtering time is set large, it may cause the motor to vibrate.
1031 )))
1032
1033 |(% 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**
1034 |(% style="text-align:center; vertical-align:middle" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle" %)(((
1035 Operation setting
1036 )))|(% 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" %)
1037 |(% colspan="8" %)(((
1038 When the function code is set to 1, enable the type A suppression function.
1039 )))
1040
1041 |(% 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**
1042 |(% style="text-align:center; vertical-align:middle" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
1043 Operation setting
1044 )))|(% 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
1045 |(% colspan="8" %)(((
1046 Set the frequency of Type A suppression.
1047 )))
1048
1049 |(% 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**
1050 |(% style="text-align:center; vertical-align:middle" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle" %)(((
1051 Operation setting
1052 )))|(% 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
1053 |(% colspan="8" %)(((
1054 Correct the load inertia ratio size.
1055 )))
1056
1057 |(% 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**
1058 |(% style="text-align:center; vertical-align:middle" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle" %)(((
1059 Operation setting
1060 )))|(% 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
1061 |(% colspan="8" %)(((
1062 The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.
1063 )))
1064
1065 |(% 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**
1066 |(% style="text-align:center; vertical-align:middle" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle" %)(((
1067 Operation setting
1068 )))|(% 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
1069 |(% colspan="8" %)(((
1070 Type A suppression phase compensation.
1071 )))
1072
1073 = **Group P05 Signal input and output** =
1074
1075 (% class="table-bordered" %)
1076 |(% 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**
1077 |(% 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
1078 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1079 Set AI_1 channel analog bias value
1080
1081 [[image:image-20220608160946-7.png]]
1082
1083 “☆” indicates that the VD2F servo drive does not support this function code.
1084 )))
1085
1086 (% class="table-bordered" %)
1087 |(% 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**
1088 |(% 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
1089 |(% colspan="8" %)(((
1090 Set AI_1 channel input first-order low-pass filter time constant
1091
1092 “☆” indicates that the VD2F servo drive does not support this function code.
1093 )))
1094
1095 (% class="table-bordered" %)
1096 |(% 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**
1097 |(% 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
1098 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1099 Set AI_1 channel analog quantity dead zone value. “Dead zone” is the input voltage interval when the sample voltage is 0.
1100
1101 [[image:image-20220608161112-8.png]]
1102
1103 “☆” indicates that the VD2F servo drive does not support this function code.
1104 )))
1105
1106 (% class="table-bordered" %)
1107 |(% 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**
1108 |(% 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
1109 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
1110 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.
1111
1112 [[image:image-20220608161203-9.png]]
1113
1114 “☆” indicates that the VD2F servo drive does not support this function code.
1115 )))
1116
1117 (% class="table-bordered" %)
1118 |(% 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**
1119 |(% 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
1120 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1121
1122 (% class="table-bordered" %)
1123 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-06☆**|(% 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**
1124 |(% 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
1125 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1126
1127 (% class="table-bordered" %)
1128 |(% 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**
1129 |(% 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
1130 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1131
1132 (% class="table-bordered" %)
1133 |(% 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**
1134 |(% 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
1135 |(% colspan="8" %)“☆” indicates that the VD2F servo drive does not support this function code.
1136
1137 (% class="table-bordered" %)
1138 |(% 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**
1139 |(% 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
1140 |(% colspan="8" %)(((
1141 Set the speed value corresponding to the analog 10V
1142
1143 (% class="table-bordered" %)
1144 |(% style="text-align:center; vertical-align:middle" %)**Mode**|(% style="text-align:center; vertical-align:middle" %)**Function code value**|(% style="text-align:center; vertical-align:middle" %)**Sampling voltage and speed diagram**
1145 |(% style="text-align:center; vertical-align:middle" %)Speed mode|(% style="text-align:center; vertical-align:middle" %)P01-01=1|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161505-10.png]]
1146
1147 Given speed = sampling voltage / 10 * (P05-09)
1148
1149 “☆” indicates that the VD2F servo drive does not support this function code.
1150 )))
1151
1152 (% class="table-bordered" %)
1153 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)**P05-10☆**|(% 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**
1154 |(% 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%
1155 |(% colspan="8" %)(((
1156 Set the torque value corresponding to the analog 10V
1157
1158 (% class="table-bordered" %)
1159 |(% 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**
1160 |(% 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]]
1161
1162 Given torque= sampling voltage / 10 * (P05-10)
1163
1164 “☆” indicates that the VD2F servo drive does not support this function code.
1165 )))
1166
1167 (% class="table-bordered" %)
1168 |(% 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**
1169 |(% 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" %)-
1170 |(% colspan="8" %)(((
1171 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.
1172
1173 (% class="table-bordered" %)
1174 |(% style="text-align:center; vertical-align:middle; width:88px" %)**Set value**|(% style="text-align:center; vertical-align:middle; width:1095px" %)**Output condition**
1175 |(% 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
1176 |(% 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
1177 |(% 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
1178 |(% 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
1179
1180 “☆” indicates that the VD2F servo drive does not support this function code.
1181 )))
1182
1183 (% class="table-bordered" %)
1184 |(% 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**
1185 |(% 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
1186 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning completion signal
1187
1188 (% class="table-bordered" %)
1189 |(% 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**
1190 |(% 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
1191 |(% colspan="8" %)Set the threshold of absolute value of position deviation when servo drive output positioning approach signal
1192
1193 (% class="table-bordered" %)
1194 |(% 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**
1195 |(% 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
1196 |(% colspan="8" %)Set the detection window time for positioning completion
1197
1198 (% class="table-bordered" %)
1199 |(% 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**
1200 |(% 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
1201 |(% 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)
1202
1203 (% class="table-bordered" %)
1204 |(% 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**
1205 |(% 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
1206 |(% 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]]__
1207
1208 (% class="table-bordered" %)
1209 |(% 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**
1210 |(% 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
1211 |(% 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]]__
1212
1213 (% class="table-bordered" %)
1214 |(% 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**
1215 |(% 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
1216 |(% 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]]__
1217
1218 (% class="table-bordered" %)
1219 |(% 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**
1220 |(% 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
1221 |(% 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]]__
1222
1223 (% class="table-bordered" %)
1224 |(% 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**
1225 |(% 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" %)%
1226 |(% 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]]__
1227
1228 (% class="table-bordered" %)
1229 |(% 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**
1230 |(% 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" %)%
1231 |(% 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]]__
1232
1233 = **Group P06 DI/DO configuration** =
1234
1235 (% class="table-bordered" %)
1236 |(% 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**
1237 |(% 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" %)-
1238 |(% colspan="8" %)(((
1239 Set DI functions corresponding to hardware DI_1. The related functions are as below.
1240
1241 (% class="table-bordered" %)
1242 |(% 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**
1243 |(% 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)
1244 |(% 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)
1245 |(% 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)
1246 |(% 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)
1247 |(% 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
1248 |(% 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
1249 |(% 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
1250 |(% 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)
1251 |(% 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" %)(((
1252 INPOS1 (Internal multi-segment position selection 1)
1253 )))
1254 |(% 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" %)(((
1255 INPOS2 (Internal multi-segment position selection 2)
1256 )))
1257 |(% 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" %)(((
1258 INPOS3 (Internal multi-segment position selection 3)
1259 )))
1260 |(% 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" %)(((
1261 INPOS4 (Internal multi-segment position selection 4)
1262 )))
1263 |(% 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" %)-
1264
1265 If P06-02 is set to a value other than that in the table above, the DI port function is not required.
1266
1267 The same DI channel function could not be allocated to multiple DI ports, otherwise servo drive will occur A-89 (DI port configuration duplication)
1268 )))
1269
1270 (% class="table-bordered" %)
1271 |(% 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**
1272 |(% 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" %)-
1273 |(% colspan="8" %)DI port input logic validity function selection(((
1274 (% class="table-bordered" %)
1275 |(% 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**
1276 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)(((
1277 Normally open input.
1278
1279 Active low level (switch on)
1280 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608161925-12.png]]
1281 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)(((
1282 Normally closed input.
1283
1284 Active high level (switch off)
1285 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220608162007-13.png]]
1286 )))
1287
1288 (% class="table-bordered" %)
1289 |(% 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**
1290 |(% 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" %)-
1291 |(% colspan="8" %)Select the enabled DI_1 port type(((
1292 (% class="table-bordered" %)
1293 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1294 |(% style="text-align:center; vertical-align:middle" %)0|Hardware DI_1 input terminal
1295 |(% style="text-align:center; vertical-align:middle" %)1|Virtual VDI_1 input terminal
1296 )))
1297
1298 (% class="table-bordered" %)
1299 |(% 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**
1300 |(% 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" %)-
1301
1302 (% class="table-bordered" %)
1303 |(% 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**
1304 |(% 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" %)-
1305
1306 (% class="table-bordered" %)
1307 |(% 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**
1308 |(% 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" %)-
1309
1310 (% class="table-bordered" %)
1311 |(% 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**
1312 |(% 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" %)-
1313
1314 (% class="table-bordered" %)
1315 |(% 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**
1316 |(% 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" %)-
1317
1318 (% class="table-bordered" %)
1319 |(% 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**
1320 |(% 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" %)-
1321
1322 (% class="table-bordered" %)
1323 |(% 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**
1324 |(% 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" %)-
1325
1326 (% class="table-bordered" %)
1327 |(% 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**
1328 |(% 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" %)-
1329
1330 (% class="table-bordered" %)
1331 |(% 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**
1332 |(% 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" %)-
1333
1334 (% class="table-bordered" %)
1335 |(% 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**
1336 |(% 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" %)-
1337
1338 “☆” indicates that the VD2F servo drive does not support this function code.
1339
1340 (% class="table-bordered" %)
1341 |(% 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**
1342 |(% 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" %)-
1343
1344 “☆” indicates that the VD2F servo drive does not support this function code.
1345
1346 (% class="table-bordered" %)
1347 |(% 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**
1348 |(% 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" %)-
1349
1350 “☆” indicates that the VD2F servo drive does not support this function code.
1351
1352 (% class="table-bordered" %)
1353 |(% 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**
1354 |(% 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" %)-
1355
1356 “☆” indicates that the VD2F servo drive does not support this function code.
1357
1358 (% class="table-bordered" %)
1359 |(% 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**
1360 |(% 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" %)-
1361
1362 “☆” indicates that the VD2F servo drive does not support this function code.
1363
1364 (% class="table-bordered" %)
1365 |(% 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**
1366 |(% 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" %)-
1367
1368 “☆” indicates that the VD2F servo drive does not support this function code.
1369
1370 (% class="table-bordered" %)
1371 |(% 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**
1372 |(% 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" %)-
1373
1374 “☆” indicates that the VD2F servo drive does not support this function code.
1375
1376 (% class="table-bordered" %)
1377 |(% 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**
1378 |(% 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" %)-
1379
1380 “☆” indicates that the VD2F servo drive does not support this function code.
1381
1382 (% class="table-bordered" %)
1383 |(% 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**
1384 |(% 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" %)-
1385
1386 “☆” indicates that the VD2F servo drive does not support this function code.
1387
1388 (% class="table-bordered" %)
1389 |(% 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**
1390 |(% 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" %)-
1391
1392 “☆” indicates that the VD2F servo drive does not support this function code.
1393
1394 (% class="table-bordered" %)
1395 |(% 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**
1396 |(% 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" %)-
1397
1398 “☆” indicates that the VD2F servo drive does not support this function code.
1399
1400 (% class="table-bordered" %)
1401 |(% 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**
1402 |(% 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" %)-
1403
1404 “☆” indicates that the VD2F servo drive does not support this function code.
1405
1406 (% class="table-bordered" %)
1407 |(% 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**
1408 |(% 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" %)-
1409 |(% colspan="8" %)(((
1410 Set DO functions corresponding to hardware DO_1. The related functions are as below.
1411
1412 (% class="table-bordered" %)
1413 |(% 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
1414 |(% 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)
1415 |(% 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)
1416 |(% 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**
1417 |(% 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)
1418 |(% 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**
1419 |(% 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
1420 |(% 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)
1421 |(% 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)
1422 |(% 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)
1423 |(% 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)
1424 |(% 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" %)
1425
1426 If P06-26 is set to a value other than that in the preceding table, the DO port function is not required
1427
1428 The same DO channel function could not be allocated to multiple DO ports, otherwise servo drive will occur A-90 (DO port configuration duplication)
1429
1430 “✎1” means use the function code BRK-OFF would be effective after power on again.
1431
1432 “✎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!
1433
1434 (% class="box infomessage" %)
1435 (((
1436 ✎**Note:** Only under VD2-0xxSA1H model, the default function code of the DO_1 channel function selection is 130ALM (fault signal)!
1437 )))
1438 )))
1439
1440 (% class="table-bordered" %)
1441 |(% 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**
1442 |(% 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" %)-
1443 |(% colspan="8" %)DO Port input logic validity function selection.(((
1444 (% class="table-bordered" %)
1445 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Content**
1446 |(% 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.
1447 |(% 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.
1448 )))
1449
1450 (% class="table-bordered" %)
1451 |(% 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**
1452 |(% 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" %)-
1453
1454 (% class="table-bordered" %)
1455 |(% 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**
1456 |(% 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" %)-
1457
1458 (% class="table-bordered" %)
1459 |(% 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**
1460 |(% 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" %)-
1461
1462 (% class="table-bordered" %)
1463 |(% 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**
1464 |(% 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" %)-
1465
1466 (% class="table-bordered" %)
1467 |(% 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**
1468 |(% 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" %)-
1469
1470 (% class="table-bordered" %)
1471 |(% 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**
1472 |(% 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" %)-
1473
1474 = **Group P07 multi-segment position** =
1475
1476 (% class="table-bordered" %)
1477 |(% 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**
1478 |(% 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" %)-
1479 |(% colspan="8" %)(((
1480 When servo is in position mode, and P01-06 (position instruction source) =1, set the operation mode of multi-segment position
1481
1482 (% class="table-bordered" %)
1483 |(% 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**
1484 |(% style="text-align:center; vertical-align:middle" %)0|Single running|Stop after running one round. The segment number automatic increment switching.
1485 |(% style="text-align:center; vertical-align:middle" %)1|Cycle running|Cycle running. The segment number automatic increment switching.
1486 |(% 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
1487
1488 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"]]__
1489 )))
1490
1491 (% class="table-bordered" %)
1492 |(% 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**
1493 |(% style="text-align:center; vertical-align:middle" %)(((
1494 Starting position number
1495 )))|(% 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" %)-
1496 |(% colspan="8" %)(((
1497 Set the starting segment number in single running or cycle running.
1498
1499 When P07-01≠2, the segment number automatic increment switching.
1500
1501 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.
1502
1503 If DI terminal logic is valid, the value of internal multi-segment position segment selection is 1, otherwise it is 0.
1504
1505 (% class="table-bordered" %)
1506 |(% 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**
1507 |(% 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
1508 |(% 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
1509 |(% 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
1510 |(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
1511 |(% 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
1512 )))
1513
1514 (% class="table-bordered" %)
1515 |(% rowspan="2" %)**P07-03**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
1516 |(((
1517 End position number
1518 )))|Shutdown setting|Effective immediately|1|1 to 16|-|-
1519 |(% colspan="8" %)(((
1520 Set the end segment number in single running or cycle running.
1521
1522 When P07-01≠2, the segment number automatic increment switching. The switching sequence is: P07-02, ……, P07-03.
1523 )))
1524
1525 (% class="table-bordered" %)
1526 |(% 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**
1527 |(% style="text-align:center; vertical-align:middle" %)(((
1528 Margin handling method
1529 )))|(% 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" %)-
1530 |(% colspan="8" %)(((
1531 The starting segment number used for the servo drive will run when it resumes after pausing in multi-segment.
1532
1533 “Pause” indicates that internal multi-segment position enable signal changes from valid to invalid.
1534
1535 (% class="table-bordered" %)
1536 |(% 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**
1537 |(% 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.
1538 |(% 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
1539
1540 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__
1541 )))
1542
1543 (% class="table-bordered" %)
1544 |(% 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**
1545 |(% 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" %)-
1546 |(% 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.(((
1547 (% class="table-bordered" %)
1548 |(% 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**
1549 |(% 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.
1550 |(% 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
1551 )))
1552
1553 (% class="table-bordered" %)
1554 |(% 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**
1555 |(% style="text-align:center; vertical-align:middle" %)(((
1556 Waiting time unit
1557 )))|(% 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" %)-
1558 |(% 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.(((
1559 (% class="table-bordered" %)
1560 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Waiting time unit**
1561 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)ms
1562 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)s
1563 )))
1564
1565 (% class="table-bordered" %)
1566 |(% 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**
1567 |(% 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" %)-
1568 |(% colspan="8" %)Set the 1st segment position displacement
1569
1570 (% class="table-bordered" %)
1571 |(% 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**
1572 |(% 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
1573 |(% 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.
1574
1575 (% class="table-bordered" %)
1576 |(% 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**
1577 |(% 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
1578 |(% 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.
1579
1580 (% class="table-bordered" %)
1581 |(% 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**
1582 |(% 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
1583 |(% 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
1584
1585 (% class="table-bordered" %)
1586 |(% 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**
1587 |(% style="text-align:center; vertical-align:middle" %)(((
1588 The 2nd segment displacement
1589 )))|(% style="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" %)-
1590
1591 (% class="table-bordered" %)
1592 |(% 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**
1593 |(% 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
1594
1595 (% class="table-bordered" %)
1596 |(% 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**
1597 |(% 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
1598
1599 (% class="table-bordered" %)
1600 |(% 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**
1601 |(% 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
1602
1603 (% class="table-bordered" %)
1604 |(% 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**
1605 |(% style="text-align:center; vertical-align:middle" %)(((
1606 The 3rd segment displacement
1607 )))|(% style="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" %)-
1608
1609 (% class="table-bordered" %)
1610 |(% 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**
1611 |(% 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
1612
1613 (% class="table-bordered" %)
1614 |(% 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**
1615 |(% 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
1616
1617 (% class="table-bordered" %)
1618 |(% 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**
1619 |(% 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
1620
1621 (% class="table-bordered" %)
1622 |(% 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**
1623 |(% style="text-align:center; vertical-align:middle" %)(((
1624 The 4th segment displacement
1625 )))|(% style="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" %)-
1626
1627 (% class="table-bordered" %)
1628 |(% 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**
1629 |(% 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
1630
1631 (% class="table-bordered" %)
1632 |(% 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**
1633 |(% 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
1634
1635 (% class="table-bordered" %)
1636 |(% 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**
1637 |(% 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
1638
1639 (% class="table-bordered" %)
1640 |(% 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**
1641 |(% style="text-align:center; vertical-align:middle; width:229px" %)(((
1642 The 5th segment displacement
1643 )))|(% 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" %)-
1644
1645 (% class="table-bordered" %)
1646 |(% 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**
1647 |(% 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
1648
1649 (% class="table-bordered" %)
1650 |(% 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**
1651 |(% 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
1652
1653 (% class="table-bordered" %)
1654 |(% 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**
1655 |(% 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
1656
1657 (% class="table-bordered" %)
1658 |(% 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**
1659 |(% style="text-align:center; vertical-align:middle; width:241px" %)(((
1660 The 6th segment displacement
1661 )))|(% 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" %)-
1662
1663 (% class="table-bordered" %)
1664 |(% 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**
1665 |(% 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
1666
1667 (% class="table-bordered" %)
1668 |(% 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**
1669 |(% 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
1670
1671 (% class="table-bordered" %)
1672 |(% 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**
1673 |(% 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
1674
1675 (% class="table-bordered" %)
1676 |(% 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**
1677 |(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1678 The 7th segment displacement
1679 )))|(% 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" %)-
1680
1681 (% class="table-bordered" %)
1682 |(% 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**
1683 |(% 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
1684
1685 (% class="table-bordered" %)
1686 |(% 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**
1687 |(% 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
1688
1689 (% class="table-bordered" %)
1690 |(% 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**
1691 |(% 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
1692
1693 (% class="table-bordered" %)
1694 |(% 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**
1695 |(% style="text-align:center; vertical-align:middle; width:170px" %)(((
1696 The 8th segment displacement
1697 )))|(% 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" %)-
1698
1699 (% class="table-bordered" %)
1700 |(% 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**
1701 |(% 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
1702
1703 (% class="table-bordered" %)
1704 |(% 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**
1705 |(% 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
1706
1707 (% class="table-bordered" %)
1708 |(% 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**
1709 |(% 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
1710
1711 (% class="table-bordered" %)
1712 |(% 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**
1713 |(% style="text-align:center; vertical-align:middle; width:259px" %)(((
1714 The 9th segment displacement
1715 )))|(% style="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" %)-
1716
1717 (% class="table-bordered" %)
1718 |(% 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**
1719 |(% 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
1720
1721 (% class="table-bordered" %)
1722 |(% 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**
1723 |(% 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
1724
1725 (% class="table-bordered" %)
1726 |(% 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**
1727 |(% 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
1728
1729 (% class="table-bordered" %)
1730 |(% 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**
1731 |(% style="text-align:center; vertical-align:middle; width:265px" %)(((
1732 The 10th segment displacement
1733 )))|(% style="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" %)-
1734
1735 (% class="table-bordered" %)
1736 |(% 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**
1737 |(% 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
1738
1739 (% class="table-bordered" %)
1740 |(% 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**
1741 |(% 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
1742
1743 (% class="table-bordered" %)
1744 |(% 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**
1745 |(% 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
1746
1747 (% class="table-bordered" %)
1748 |(% 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**
1749 |(% style="text-align:center; vertical-align:middle; width:233px" %)(((
1750 The 11th segment displacement
1751 )))|(% 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" %)-
1752
1753 (% class="table-bordered" %)
1754 |(% 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**
1755 |(% 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
1756
1757 (% class="table-bordered" %)
1758 |(% 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**
1759 |(% 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
1760
1761 (% class="table-bordered" %)
1762 |(% 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**
1763 |(% 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
1764
1765 (% class="table-bordered" %)
1766 |(% 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**
1767 |(% style="text-align:center; vertical-align:middle" %)(((
1768 The 12th segment displacement
1769 )))|(% style="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" %)-
1770
1771 (% class="table-bordered" %)
1772 |(% 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**
1773 |(% 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
1774
1775 (% class="table-bordered" %)
1776 |(% 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**
1777 |(% 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
1778
1779 (% class="table-bordered" %)
1780 |(% 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**
1781 |(% 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
1782
1783 (% class="table-bordered" %)
1784 |(% 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**
1785 |(% style="text-align:center; vertical-align:middle; width:252px" %)(((
1786 The 13th segment displacement
1787 )))|(% 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" %)-
1788
1789 (% class="table-bordered" %)
1790 |(% 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**
1791 |(% 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
1792
1793 (% class="table-bordered" %)
1794 |(% 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**
1795 |(% 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
1796
1797 (% class="table-bordered" %)
1798 |(% 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**
1799 |(% 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
1800
1801 (% class="table-bordered" %)
1802 |(% 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**
1803 |(% style="text-align:center; vertical-align:middle" %)(((
1804 The 14th segment displacement
1805 )))|(% style="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" %)-
1806
1807 (% class="table-bordered" %)
1808 |(% 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**
1809 |(% 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
1810
1811 (% class="table-bordered" %)
1812 |(% 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**
1813 |(% 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
1814
1815 (% class="table-bordered" %)
1816 |(% 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**
1817 |(% 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
1818
1819 (% class="table-bordered" %)
1820 |(% 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**
1821 |(% style="text-align:center; vertical-align:middle; width:242px" %)(((
1822 The 15th segment displacement
1823 )))|(% 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" %)-
1824
1825 (% class="table-bordered" %)
1826 |(% 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**
1827 |(% 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
1828
1829 (% class="table-bordered" %)
1830 |(% 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**
1831 |(% 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
1832
1833 (% class="table-bordered" %)
1834 |(% 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**
1835 |(% 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
1836
1837 (% class="table-bordered" %)
1838 |(% 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**
1839 |(% style="text-align:center; vertical-align:middle; width:231px" %)(((
1840 The 16th segment displacement
1841 )))|(% 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" %)-
1842
1843 (% class="table-bordered" %)
1844 |(% 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**
1845 |(% 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
1846
1847 (% class="table-bordered" %)
1848 |(% 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**
1849 |(% 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
1850
1851 (% class="table-bordered" %)
1852 |(% 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**
1853 |(% 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
1854
1855 = **Group P10 Accessibility** =
1856
1857 (% class="table-bordered" %)
1858 |(% 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**
1859 |(% 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
1860 |(% colspan="8" %)Used to set JOG speed
1861
1862 (% class="table-bordered" %)
1863 |(% 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**
1864 |(% 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" %)-
1865 |(% colspan="8" %)Write 1 to factory reset
1866
1867 (% class="table-bordered" %)
1868 |(% 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**
1869 |(% 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" %)-
1870 |(% colspan="8" %)(((
1871 Fault reset operation selection
1872
1873 (% class="table-bordered" %)
1874 |(% 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**
1875 |(% style="text-align:center; vertical-align:middle; width:96px" %)0|(% style="width:138px" %)No operation|(% style="width:926px" %)-
1876 |(% 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.
1877
1878 ✎**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.
1879 )))
1880
1881 (% class="table-bordered" %)
1882 |(% 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**
1883 |(% 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" %)%
1884 |(% colspan="8" %)(((
1885 Set the time for code A-82 (Motor overload warning) and Er.34 (Motor overload protection fault) through this function code.
1886
1887 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.
1888 )))
1889
1890 (% class="table-bordered" %)
1891 |(% 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**
1892 |(% 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" %)-
1893 |(% colspan="8" %)(((
1894 This function code displays the motor code code of the motor currently recognized by the servo drive (including the last successful recognition).
1895
1896 ✎**Note:** It is necessary to connect the motor first, and then power on the drive. Otherwise, it will report “Er.27” (encoder disconnection fault) .
1897 )))
1898
1899 (% class="table-bordered" %)
1900 |(% 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**
1901 |(% 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" %)-
1902 |(% colspan="8" %)(((
1903 Used to clear the rotation number of multi-turn absolute encoder (U0-55), current position (U0-56) or clear the encoder fault alarms
1904
1905 (% class="table-bordered" %)
1906 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Function**
1907 |(% style="text-align:center; vertical-align:middle" %)0|No operation;
1908 |(% style="text-align:center; vertical-align:middle" %)1|Clear multi-turn data, encoder current position and encoder fault alarms
1909
1910 ✎**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.
1911 )))
1912
1913 (% class="table-bordered" %)
1914 |(% 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**
1915 |(% 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" %)-
1916 |(% colspan="8" %)(((
1917 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.
1918
1919 **✎Note:** Please do not modify the motor code code arbitrarily, otherwise, the motor may be damaged.
1920 )))
1921
1922 |(% rowspan="2" %)**P10-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Range**|**Category**|**Unit**
1923 |Multi-turn absolute encoder origin offset compensation|Operation setting|Effective immediately|0|2147483647 to 2147483646|Accessibility|-
1924 |(% 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.
1925
1926 = **Group P12 Communication parameters** =
1927
1928 (% class="table-bordered" %)
1929 |(% 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**
1930 |(% 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" %)-
1931 |(% colspan="8" %)Set the Modbus communication address of servo drive
1932
1933 (% class="table-bordered" %)
1934 |(% 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**
1935 |(% 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" %)-
1936 |(% 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.(((
1937 (% class="table-bordered" %)
1938 |(% 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**
1939 |(% 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
1940 |(% 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
1941 |(% 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
1942 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)19200 bps
1943 )))
1944
1945 (% class="table-bordered" %)
1946 |(% 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**
1947 |(% 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" %)-
1948 |(% 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.(((
1949 (% class="table-bordered" %)
1950 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Data format**
1951 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1 stop bit, no parity
1952 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1 stop bit, odd parity
1953 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1 stop bit, even parity
1954 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2 stop bits, no parity
1955 )))
1956
1957 (% class="table-bordered" %)
1958 |(% 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**
1959 |(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1960 Write Modbus communication data to EEPROM
1961 )))|(% 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" %)-
1962 |(% colspan="8" %)(((
1963 Whether the function code written by the communication method is saved to EEPRO
1964
1965 (% class="table-bordered" %)
1966 |(% 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**
1967 |(% style="text-align:center; vertical-align:middle" %)0|Do not write to EEPROM, and do not save data after power failure;
1968 |(% style="text-align:center; vertical-align:middle" %)1|Write to EEPROM, and save data after power failure;
1969
1970 ✎**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.
1971 )))
1972
1973 (% class="table-bordered" %)
1974 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
1975 **P12-05**
1976
1977 ☆
1978 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1979 |(% 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" %)-
1980 |(% colspan="8" %)(((
1981 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)
1982
1983 (% class="table-bordered" %)
1984 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**Communication method**
1985 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)RS422 communication
1986 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)RS485 communication
1987
1988 ✎**Note:** **“☆”** indicates that only VD2F servo drive support this function code. The VD2-0XXSA1G model does not have this function code.
1989 )))
1990
1991 = **Group P13 Communication input and output terminal** =
1992
1993 (% class="table-bordered" %)
1994 |(% 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**
1995 |(% 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" %)-
1996 |(% colspan="8" %)When P06-04 is set to 1, DI_1 channel logic is controlled by this function code.(((
1997 (% class="table-bordered" %)
1998 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDI_1 input level**
1999 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
2000 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
2001 )))
2002
2003 (% class="table-bordered" %)
2004 |(% 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**
2005 |(% 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" %)-
2006 |(% colspan="8" %)When P06-07 is set to 1, DI_2 channel logic is controlled by this function code.
2007
2008 (% class="table-bordered" %)
2009 |(% 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**
2010 |(% 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" %)-
2011 |(% colspan="8" %)When P06-10 is set to 1, DI_3 channel logic is controlled by this function code.
2012
2013 (% class="table-bordered" %)
2014 |(% 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**
2015 |(% 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" %)-
2016 |(% colspan="8" %)When P06-13 is set to 1, DI_4 channel logic is controlled by this function code.
2017
2018 (% class="table-bordered" %)
2019 |(% 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**
2020 |(% 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" %)-
2021 |(% colspan="8" %)When P06-16 is set to 1, DI_5 channel logic is controlled by this function code.
2022
2023 (% class="table-bordered" %)
2024 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2025 **P13-06**
2026
2027 ☆
2028 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2029 |(% 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" %)-
2030 |(% colspan="8" %)(((
2031 When P06-19 is set to 1, DI_6 channel logic is controlled by this function code.
2032
2033 “☆” indicates that the VD2F servo drive does not support this function code.
2034 )))
2035
2036 (% class="table-bordered" %)
2037 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2038 **P13-07**
2039
2040 ☆
2041 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2042 |(% 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" %)-
2043 |(% colspan="8" %)(((
2044 When P06-22 is set to 1, DI_7 channel logic is controlled by this function code.
2045
2046 “☆” indicates that the VD2F servo drive does not support this function code.
2047 )))
2048
2049 (% class="table-bordered" %)
2050 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)(((
2051 **P13-08**
2052
2053 ☆
2054 )))|(% style="text-align:center; vertical-align:middle" %)**Parameter name**|(% style="text-align:center; vertical-align:middle" %)**Setting method**|(% style="text-align:center; vertical-align:middle" %)**Effective time**|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2055 |(% 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" %)-
2056 |(% colspan="8" %)(((
2057 When P06-25 is set to 1, DI_8 channel logic is controlled by this function code.
2058
2059 “☆” indicates that the VD2F servo drive does not support this function code.
2060 )))
2061
2062 (% class="table-bordered" %)
2063 |(% 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**
2064 |(% 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" %)-
2065 |(% colspan="8" %)Used to set the input level logic when the DO function selected by VDO_1 is valid(((
2066 (% class="table-bordered" %)
2067 |(% style="text-align:center; vertical-align:middle" %)**Set value**|(% style="text-align:center; vertical-align:middle" %)**VDo_1 input level**
2068 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)High level
2069 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Low level
2070 )))
2071
2072 (% class="table-bordered" %)
2073 |(% 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**
2074 |(% 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" %)-
2075
2076 (% class="table-bordered" %)
2077 |(% 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**
2078 |(% 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" %)-
2079
2080 (% class="table-bordered" %)
2081 |(% 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**
2082 |(% 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" %)-
2083
2084 = **Group U0 Universal monitoring** =
2085
2086 (% class="table-bordered" %)
2087 |(% 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**
2088 |(% 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
2089 |(% colspan="7" %)Display the status of servo drive.(((
2090 (% class="table-bordered" %)
2091 |(% 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**
2092 |(% 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
2093 |(% 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
2094 )))
2095
2096 (% class="table-bordered" %)
2097 |(% 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**
2098 |(% 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
2099 |(% colspan="7" %)Display the actual speed of servo drive. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
2100 (% class="table-bordered" %)
2101 |(% style="text-align:center; vertical-align:middle; width:576px" %)500 rpm display|(% style="text-align:center; vertical-align:middle; width:584px" %)-500 rpm display
2102 |(% 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]]
2103 )))
2104
2105 (% class="table-bordered" %)
2106 |(% 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**
2107 |(% 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
2108 |(% colspan="7" %)Display input speed instruction. The accuracy is 1 rpm. The display of servo drive panel is as below.(((
2109 (% class="table-bordered" %)
2110 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
2111 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163722-1.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163726-2.jpeg]]
2112 )))
2113
2114 (% class="table-bordered" %)
2115 |(% 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**
2116 |(% 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
2117 |(% 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.(((
2118 (% class="table-bordered" %)
2119 |(% style="text-align:center; vertical-align:middle" %)3000 rpm display|(% style="text-align:center; vertical-align:middle" %)-3000 rpm display
2120 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160850-3.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707160859-4.jpeg]]
2121 )))
2122
2123 (% class="table-bordered" %)
2124 |(% 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**
2125 |(% 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" %)(((
2126 Equivalent pulse deviation
2127 )))|(% style="text-align:center; vertical-align:middle" %)32-bit
2128 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2129 Display pulse deviation. If U0-05 is set to 32768, the display of servo drive panel is as below.
2130
2131 [[image:image-20220608162142-14.png]]
2132 )))
2133
2134 (% class="table-bordered" %)
2135 |(% 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**
2136 |(% 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
2137 |(% colspan="7" %)Display the input instruction pulse frequency of servo drive.
2138
2139 (% class="table-bordered" %)
2140 |(% 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**
2141 |(% 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" %)(((
2142 Equivalent pulse deviation
2143 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)32-bit
2144 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2145 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.
2146
2147 [[image:image-20220608162219-15.png]]
2148 )))
2149
2150 |(% rowspan="2" %)**U0-12**|**Monitoring name**|**Range**|**Category**|**Panel display**|**Unit**|**Data type**
2151 |Real-time torque value|-3000 to 3000|Universal|Decimal|0.1%|16-bit
2152
2153 (% class="table-bordered" %)
2154 |(% 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**
2155 |(% style="text-align:center; vertical-align:middle; width:511px" %)(((
2156 Encoder cumulative position (Lower 32 bits)
2157 )))|(% 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
2158
2159 (% class="table-bordered" %)
2160 |(% 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**
2161 |(% style="text-align:center; vertical-align:middle" %)(((
2162 Encoder cumulative position (High 32 bits)
2163 )))|(% 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
2164 |(% colspan="7" %)Display the cumulative data of encoder position. It is used with U0-13 cooperatively.
2165
2166 (% class="table-bordered" %)
2167 |(% 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**
2168 |(% style="text-align:center; vertical-align:middle" %)DI input signal status|(% style="text-align:center; vertical-align:middle" %)(((
2169 00000000 to 11111111
2170 )))|(% 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
2171 |(% colspan="7" %)(((
2172 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").
2173
2174 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.
2175
2176 (% style="text-align:center" %)
2177 [[image:image-20220707161021-6.jpeg]]
2178 )))
2179
2180 (% class="table-bordered" %)
2181 |(% 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**
2182 |(% style="text-align:center; vertical-align:middle" %)DO output signal status|(% style="text-align:center; vertical-align:middle" %)(((
2183 00000000 to 00001111
2184 )))|(% 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
2185 |(% colspan="7" %)(((
2186 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").
2187
2188 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.
2189
2190 (% style="text-align:center" %)
2191 [[image:image-20220707161122-7.jpeg]]
2192 )))
2193
2194 (% class="table-bordered" %)
2195 |(% 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**
2196 |(% 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
2197 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2198 Display the current load inertia ratio. If the load inertia ratio is 3 times (300%) , the panel of servo drive is displayed as below.
2199
2200 [[image:image-20220707161347-10.jpeg]]
2201 )))
2202
2203 (% class="table-bordered" %)
2204 |(% 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**
2205 |(% 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
2206 |(% style="text-align:center; vertical-align:middle; width:364px" %)Reserved**☆**
2207 |(% colspan="7" %)(((
2208 Display the actual sampling voltage of analog channel 1.
2209
2210 (% class="table-bordered" %)
2211 |(% style="text-align:center; vertical-align:middle" %)10.00V display|(% style="text-align:center; vertical-align:middle" %)-10.00V display
2212 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161301-8.jpeg]]|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707161307-9.jpeg]]
2213
2214 “☆” indicates that the VD2F servo drive does not have this monitoring.
2215 )))
2216
2217 (% class="table-bordered" %)
2218 |(% 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**
2219 |(% 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
2220 |(% style="text-align:center; vertical-align:middle; width:362px" %)Reserved**☆**
2221 |(% colspan="7" %)“☆” indicates that the VD2F servo drive does not have this monitoring.
2222
2223 (% class="table-bordered" %)
2224 |(% 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**
2225 |(% 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
2226
2227 (% class="table-bordered" %)
2228 |(% 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**
2229 |(% 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
2230
2231 (% class="table-bordered" %)
2232 |(% 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**
2233 |(% 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
2234 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2235 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.
2236
2237 [[image:image-20220707161618-11.jpeg]]
2238 )))
2239
2240 (% class="table-bordered" %)
2241 |(% 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**
2242 |(% 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
2243 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2244 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.
2245
2246 [[image:image-20220707161625-12.jpeg]]
2247 )))
2248
2249 (% class="table-bordered" %)
2250 |(% 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**
2251 |(% 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
2252 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2253 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.
2254
2255 [[image:image-20220707161633-13.jpeg]]
2256 )))
2257
2258 |(% 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**
2259 |(% 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
2260 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2261 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.
2262
2263 [[image:image-20220707161639-14.jpeg]]
2264 )))
2265
2266 (% class="table-bordered" %)
2267 |(% 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**
2268 |(% 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
2269 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2270 Display current mechanical angle of motor. 0 corresponds to a mechanical angle of 0 degree.
2271
2272 If the mechanical angle is 270°, the panel of servo drive is displayed as below.
2273
2274 [[image:image-20220707161852-15.jpeg]]
2275 )))
2276
2277 (% class="table-bordered" %)
2278 |(% 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**
2279 |(% 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
2280 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2281 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.
2282
2283 [[image:image-20220707161905-16.jpeg]]
2284
2285
2286 )))
2287
2288 (% class="table-bordered" %)
2289 |(% 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**
2290 |(% 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
2291 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2292 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.
2293
2294 [[image:image-20220707161912-17.jpeg]]
2295 )))
2296
2297 (% class="table-bordered" %)
2298 |(% 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**
2299 |(% 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
2300
2301 (% class="table-bordered" %)
2302 |(% 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**
2303 |(% 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
2304
2305 (% class="table-bordered" %)
2306 |(% 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**
2307 |(% 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
2308
2309 (% class="table-bordered" %)
2310 |(% 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**
2311 |(% 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
2312
2313 (% class="table-bordered" %)
2314 |(% 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**
2315 |(% 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
2316
2317 (% class="table-bordered" %)
2318 |(% 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**
2319 |(% 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
2320
2321 (% class="table-bordered" %)
2322 |(% 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**
2323 |(% 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
2324 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2325 Display current load torque percentage. If the current load torque percentage is 10.3%, the panel of servo drive is displayed as below.
2326
2327 [[image:image-20220707161956-18.jpeg]]
2328 )))
2329
2330 |(% 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**
2331 |(% 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
2332
2333 |(% 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**
2334 |(% 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
2335
2336 |(% 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**
2337 |(% 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
2338
2339 |(% 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**
2340 |(% 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
2341
2342 |(% 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**
2343 |(% 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
2344
2345 |(% 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**
2346 |(% 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
2347
2348 |(% 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**
2349 |(% 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
2350
2351 |(% 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**
2352 |(% 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
2353
2354 |(% 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**
2355 |(% 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
2356 |(% colspan="7" %)(((
2357 Display current Motor model code. Take WD80M-07530S-A1F (A026) as an example, the panel of servo drive is displayed as below.
2358
2359 (% style="text-align:center" %)
2360 [[image:image-20220707162054-20.jpeg]]
2361 )))
2362
2363 |(% 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**
2364 |(% 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
2365 |(% colspan="7" %)Display the single turn position feedback value of absolute encoder
2366
2367 |(% 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**
2368 |(% style="text-align:center; vertical-align:middle; width:338px" %)(((
2369 Circle numbers of multi-turn absolute encoder
2370 )))|(% 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
2371 |(% colspan="7" %)Display the circle number of multi-turn absolute encoder
2372
2373 |(% 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**
2374 |(% 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
2375 |(% colspan="7" %)Display the absolute position of motor (instruction unit). It is only valid is multi-turn absolute encoder motor
2376
2377 = **Group U1 Warning monitoring** =
2378
2379 |(% 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**
2380 |(% 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
2381 |(% colspan="7" %)(((
2382 If there is fault in servo drive, it would display the corresponding fault. If not, the panel displays “~-~--”.
2383
2384 Take the fault “encoder disconnect” as an example, the panel of servo drive is displayed as below.
2385
2386 |(% 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
2387 |(% 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]]
2388 )))
2389
2390 |(% 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**
2391 |(% 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
2392 |(% colspan="7" %)(((
2393 If there is warning in servo drive, it would display the corresponding warning. If not, the panel displays “~-~--”.
2394
2395 Take the warning“DI port configuration duplication” as an example, the panel is displayed as below.
2396
2397 |(% 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
2398 |(% 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]]
2399 )))
2400
2401 |(% 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**
2402 |(% 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
2403
2404 |(% 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**
2405 |(% 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
2406
2407 |(% 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**
2408 |(% 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
2409
2410 |(% 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**
2411 |(% 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
2412
2413 |(% 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**
2414 |(% 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
2415
2416 |(% 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**
2417 |(% 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
2418
2419 |(% 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**
2420 |(% 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
2421
2422 |(% 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**
2423 |(% 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
2424
2425 |(% 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**
2426 |(% 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
2427
2428 |(% 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**
2429 |(% 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
2430
2431 |(% 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**
2432 |(% 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
2433
2434 |(% 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**
2435 |(% 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
2436
2437 |(% 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**
2438 |(% 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
2439
2440 |(% 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**
2441 |(% 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
2442 |(% colspan="7" style="text-align:center; vertical-align:middle" %)Display the 1st fault code of the most recent of servo drive
2443
2444 |(% 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**
2445 |(% 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
2446
2447 |(% 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**
2448 |(% 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
2449
2450 |(% 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**
2451 |(% 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
2452
2453 |(% 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**
2454 |(% 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
2455
2456 |(% 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**
2457 |(% 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
2458 |(% colspan="7" %)Display the 1st warning code of the most recent of servo drive
2459
2460 |(% 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**
2461 |(% 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
2462
2463 |(% 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**
2464 |(% 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
2465
2466 |(% 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**
2467 |(% 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
2468
2469 |(% 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**
2470 |(% 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
2471
2472 = **Group U2 Device monitoring** =
2473
2474 |(% 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**
2475 |(% 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
2476 |(% colspan="7" %)(((
2477 Display the product series code of servo drive.
2478
2479 The product series code of VD2A and VD2B is 0x4432. The product series code of VD2F is 0x3246.
2480
2481 There are displayed as below.
2482
2483 [[image:image-20220707162607-24.jpeg]][[image:image-20220707162613-25.jpeg]]
2484 )))
2485
2486 |(% 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**
2487 |(% 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
2488 |(% colspan="7" %)Display the servo drive model.(((
2489 |(% 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**
2490 |(% 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
2491 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163100-29.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-014SA1G
2492 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163104-30.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-016SA1G
2493 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163110-31.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-019SA1G
2494 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163115-32.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-021SA1G
2495 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163123-33.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-025SA1G
2496 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163128-34.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2-030SA1G
2497 |(% 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
2498 |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220707163144-36.jpeg]]|(% style="text-align:center; vertical-align:middle" %)VD2F-014SA1P
2499 )))
2500
2501 |(% 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**
2502 |(% 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
2503 |(% colspan="7" style="text-align:center; vertical-align:middle" %)(((
2504 |**U2-01 display**|**U2-02 display**|**U2-03 display**|**Model**
2505 |[[image:image-20220707165330-1.jpeg]]|[[image:image-20220707165334-2.jpeg]]|[[image:image-20220707165339-3.jpeg]]|(((
2506 VD2-021TA1G
2507 )))
2508 )))
2509
2510 |(% 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**
2511 |(% 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
2512 |(% colspan="7" %)(((
2513 Display the firmware version
2514
2515 Display format: X.YY. For example, 1.13. The panel is displayed as below.
2516
2517 (% style="text-align:center" %)
2518 [[image:image-20220707163242-37.jpeg]]
2519 )))
2520
2521 |(% 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**
2522 |(% 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
2523 |(% colspan="7" %)(((
2524 Display the hardware version (FPGA)
2525
2526 Display format: X.YY. For example, 1.01. The panel is displayed as below.
2527
2528 (% style="text-align:center" %)
2529 [[image:image-20220707163248-38.jpeg]]
2530 )))
2531
2532 |(% 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**
2533 |(% 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
2534 |(% style="text-align:center; vertical-align:middle" %)Firmware date (year) *
2535 |(% colspan="7" %)Display the year of manufacture of the VD2F drive firmware.
2536
2537 |(% 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**
2538 |(% 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
2539 |(% style="text-align:center; vertical-align:middle" %)Firmware date (month) *
2540 |(% colspan="7" %)Display the month of manufacture of the VD2F drive firmware.
2541
2542 |(% 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**
2543 |(% 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
2544 |(% style="text-align:center; vertical-align:middle; width:332px" %)Firmware date (day) *
2545 |(% colspan="7" %)(((
2546 Displays the production date of the VD2F drive firmware.
2547
2548 For example, the firmware production day of VD2F-014SA1P_V1.01 is January 10, 2022, the panel is displayed as below.
2549
2550 |(% 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**
2551 |(% 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]]
2552 )))
2553
2554 |(% 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**
2555 |(% 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
2556
2557 |(% 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**
2558 |(% 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
2559
2560 |(% 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**
2561 |(% 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
2562
2563 |(% 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**
2564 |(% 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
2565
2566 |(% 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**
2567 |(% 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
2568
2569 |(% 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**
2570 |(% 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
2571
2572 |(% 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**
2573 |(% 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
2574
2575 |(% 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**
2576 |(% 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