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Changes for page 11 Appendix

Last modified by Iris on 2026/04/17 16:23
From version 1.2
edited by Iris
on 2025/09/08 11:46
Change comment: There is no comment for this version
To version 3.1
edited by Iris
on 2026/04/17 14:28
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -2,21 +2,22 @@
2 2  
3 3  In order to facilitate your use, the VD2SA series provides monitoring display and setting display functions. The specification are as follows.
4 4  
5 -|=(% style="text-align: center; vertical-align: middle;" %)**Number**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter group name**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter group**|=(% style="text-align: center; vertical-align: middle;" %)**Range**
6 -|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Basic settings|(% style="text-align:center; vertical-align:middle" %)Group P00|(% style="text-align:center; vertical-align:middle" %)P00-01 to P00-31
7 -|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)Control parameters|(% style="text-align:center; vertical-align:middle" %)Group P01|(% style="text-align:center; vertical-align:middle" %)P01-01 to P01-38
8 -|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)Gain adjustment|(% style="text-align:center; vertical-align:middle" %)Group P02|(% style="text-align:center; vertical-align:middle" %)P02-01 to P02-25
9 -|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Self-adjustment parameters|(% style="text-align:center; vertical-align:middle" %)Group P03|(% style="text-align:center; vertical-align:middle" %)P03-01 to P03-08
10 -|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Group P04|(% style="text-align:center; vertical-align:middle" %)P04-01 to P04-23
11 -|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Signal input and output|(% style="text-align:center; vertical-align:middle" %)Group P05|(% style="text-align:center; vertical-align:middle" %)P05-01 to P05-21
12 -|(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle" %)DI / DO configuration|(% style="text-align:center; vertical-align:middle" %)Group P06|(% style="text-align:center; vertical-align:middle" %)P06-02 to P06-33
13 -|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)Multi-segment position|(% style="text-align:center; vertical-align:middle" %)Group P07|(% style="text-align:center; vertical-align:middle" %)P07-01 to P07-72
14 -|(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)Group P10|(% style="text-align:center; vertical-align:middle" %)P10-01 to P10-11
15 -|(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)Communication parameters|(% style="text-align:center; vertical-align:middle" %)Group P12|(% style="text-align:center; vertical-align:middle" %)P12-01 to P12-06
16 -|(% style="text-align:center; vertical-align:middle" %)11|(% style="text-align:center; vertical-align:middle" %)Communication input and output|(% style="text-align:center; vertical-align:middle" %)Group P13|(% style="text-align:center; vertical-align:middle" %)P13-01 to P13-14
17 -|(% style="text-align:center; vertical-align:middle" %)12|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Group U0|(% style="text-align:center; vertical-align:middle" %)U0-01 to U0-56
18 -|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Group U1|(% style="text-align:center; vertical-align:middle" %)U1-01 to U1-25
19 -|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)Device|(% style="text-align:center; vertical-align:middle" %)Group U2|(% style="text-align:center; vertical-align:middle" %)U2-01 to U2-16
5 +(% style="margin-left:auto; margin-right:auto" %)
6 +|=**Number**|=**Parameter group name**|=**Parameter group**|=**Range**
7 +|=1|(% style="text-align:center" %)Basic settings|(% style="text-align:center" %)Group P00|(% style="text-align:center" %)P00-01 to P00-33
8 +|=2|(% style="text-align:center" %)Control parameters|(% style="text-align:center" %)Group P01|(% style="text-align:center" %)P01-01 to P01-44
9 +|=3|(% style="text-align:center" %)Gain adjustment|(% style="text-align:center" %)Group P02|(% style="text-align:center" %)P02-01 to P02-50
10 +|=4|(% style="text-align:center" %)Self-adjustment parameters|(% style="text-align:center" %)Group P03|(% style="text-align:center" %)P03-01 to P03-08
11 +|=5|(% style="text-align:center" %)Vibration suppression|(% style="text-align:center" %)Group P04|(% style="text-align:center" %)P04-01 to P04-23
12 +|=6|(% style="text-align:center" %)Signal input and output|(% style="text-align:center" %)Group P05|(% style="text-align:center" %)P05-01 to P05-21
13 +|=7|(% style="text-align:center" %)DI / DO configuration|(% style="text-align:center" %)Group P06|(% style="text-align:center" %)P06-02 to P06-33
14 +|=8|(% style="text-align:center" %)Multi-segment position|(% style="text-align:center" %)Group P07|(% style="text-align:center" %)P07-01 to P07-72
15 +|=9|(% style="text-align:center" %)Accessibility|(% style="text-align:center" %)Group P10|(% style="text-align:center" %)P10-01 to P10-11
16 +|=10|(% style="text-align:center" %)Communication parameters|(% style="text-align:center" %)Group P12|(% style="text-align:center" %)P12-01 to P12-06
17 +|=11|(% style="text-align:center" %)Communication input and output|(% style="text-align:center" %)Group P13|(% style="text-align:center" %)P13-01 to P13-14
18 +|=12|(% style="text-align:center" %)Universal|(% style="text-align:center" %)Group U0|(% style="text-align:center" %)U0-01 to U0-60
19 +|=13|(% style="text-align:center" %)Warning|(% style="text-align:center" %)Group U1|(% style="text-align:center" %)U1-01 to U1-25
20 +|=14|(% style="text-align:center" %)Device|(% style="text-align:center" %)Group U2|(% style="text-align:center" %)U2-01 to U2-16
20 20  
21 21  **Comments about the contents of the parameter table**
22 22  
... ... @@ -405,7 +405,8 @@
405 405  |=(% style="text-align: center; vertical-align: middle; width: 154px;" %)__P10-07__|(% style="text-align:center; vertical-align:middle; width:279px" %)Set machine code manually|(% style="text-align:center; vertical-align:middle; width:186px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:106px" %)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" %)0x0A07|(% style="text-align:center; vertical-align:middle; width:90px" %)2567|(% style="text-align:center; vertical-align:middle; width:123px" %)16-bit
406 406  |=(% style="text-align: center; vertical-align: middle; width: 154px;" %)__P10-08__|Multi-turn absolute encoder origin offset compensation|Operation setting|Effective immediately|0|-2147483647 to 2147483646|-|0x0A08|2568|32-bit
407 407  |(((
408 - ** __P10-09__**
409 +*
410 +** __P10-09__
409 409  )))|Personalised functional selection|Operation setting|Power-on again|0|0 to 65535|-|0x0A09|2569|16-bit
410 410  |=(% style="text-align: center; vertical-align: middle; width: 154px;" %)__P10-11__|Motor stall overtemperature enable|Operation setting|Effective immediately|0|0 to1 |-|0x0A0C|2572|16-bit
411 411  
... ... @@ -519,151 +519,155 @@
519 519  |(% style="text-align:center; vertical-align:middle; width:222px" %)22|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS2|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 2|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
520 520  |(% style="text-align:center; vertical-align:middle; width:222px" %)23|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS3|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 3|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
521 521  |(% style="text-align:center; vertical-align:middle; width:222px" %)24|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS4|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 4|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
522 -|25|HOME_START|Origin regression initiated|(((
524 +| 25| HOME_START|Origin regression initiated|(((
523 523  Invalid DI port logic : turn off return-to-origin mode;
524 524  
525 525  Valid DI port logic : turn on the return mode.
526 526  )))
527 -|26|HOME_ORG|Origin signal|(((
529 +| 26| HOME_ORG|Origin signal|(((
528 528  Invalid DI port logic : the origin signal is invalid;
529 529  
530 530  Valid DI port logic : the origin signal works.
531 531  )))
532 -|27|JOGU|DI forward jog|(((
534 +| 27| JOGU|DI forward jog|(((
533 533  Invalid DI port logic : unable to turn forward;
534 534  
535 535  Valid DI port logic : forward turning is allowed.
536 536  )))
537 -|28|JOGD|DI reverse jog|(((
539 +| 28| JOGD|DI reverse jog|(((
538 538  Invalid DI port logic : cannot be turned in reverse;
539 539  
540 540  Valid DI port logic : reverse turns are allowed.
541 541  )))
542 542  
543 -(% style="width:1557px" %)
544 -|=(% colspan="6" style="text-align: center; vertical-align: middle; width: 1554px;" %)**DO channel function definition**
545 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:81px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:694px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:682px" %)**Content**|(% style="text-align:center; vertical-align:middle; width:682px" %)Note
546 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)128|(% style="text-align:center; vertical-align:middle; width:81px" %)~-~-|(% style="text-align:center; vertical-align:middle; width:694px" %)OFF (not used)|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:682px" %) |-
547 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)129|(% style="text-align:center; vertical-align:middle; width:81px" %)RDY|(% style="text-align:center; vertical-align:middle; width:694px" %)Servo is ready|(% style="vertical-align:middle; width:682px" %)(((
545 +(% style="margin-left:auto; margin-right:auto" %)
546 +|(% colspan="6" %)** DO channel function definition**
547 +|(% colspan="2" %)** Channel function code**|**Name**|**Function name**|**Content**|**Note**
548 +|(% colspan="2" %) 128|~-~-|OFF (not used)|-|-
549 +|(% colspan="2" %) 129|RDY|Servo is ready|(((
548 548  Servo is ready, and could receive S-ON signal.
549 549  
550 -1. Invalid DO port logic: Servo is not ready
551 -1. Valid DO port logic: Servo is ready
552 -)))|(% style="vertical-align:middle; width:682px" %) |-
553 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)130|(% style="text-align:center; vertical-align:middle; width:81px" %)ALM|(% style="text-align:center; vertical-align:middle; width:694px" %)Fault signal|(% style="vertical-align:middle; width:682px" %)Valid when the fault is detected|(% style="vertical-align:middle; width:682px" %) |-
554 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)131|(% style="text-align:center; vertical-align:middle; width:81px" %)WARN|(% style="text-align:center; vertical-align:middle; width:694px" %)Warning signal|(% style="vertical-align:middle; width:682px" %)Valid when warning signals are output|(% style="vertical-align:middle; width:682px" %) |-
555 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)132|(% style="text-align:center; vertical-align:middle; width:81px" %)TGON|(% style="text-align:center; vertical-align:middle; width:694px" %)Rotation detection|(% style="vertical-align:middle; width:682px" %)(((
552 +Invalid DO port logic: Servo is not ready
553 +
554 +Valid DO port logic: Servo is ready
555 +)))|-
556 +|(% colspan="2" %) 130|ALM|Fault signal|Valid when the fault is detected|-
557 +|(% colspan="2" %) 131|WARN|Warning signal|Valid when warning signals are output|-
558 +|(% colspan="2" %) 132|TGON|Rotation detection|(((
556 556  When the absolute value of servo motor speed is higher than P05-16 set value:
557 557  
558 -* Invalid DO port logic: invalid motor rotation detection signal
559 -* Valid DO port logic: valid motor rotation detection signal
560 -)))|(% style="vertical-align:middle; width:682px" %) |-
561 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)133|(% style="text-align:center; vertical-align:middle; width:81px" %)ZSP|(% style="text-align:center; vertical-align:middle; width:694px" %)Zero speed signal|(% style="vertical-align:middle; width:682px" %)(((
561 +Invalid DO port logic:invalid motor rotation detection signal
562 +
563 +Valid DO port logic: valid motor rotation detection signal
564 +)))|-
565 +|(% colspan="2" %) 133|ZSP|Zero speed signal|(((
562 562  The signal output by the servo motor when it stops:
563 563  
564 -* Invalid DO port logic: invalid motor zero-speed signal
565 -* Valid DO port logic: valid motor zero-speed signal
566 -)))|(% style="vertical-align:middle; width:682px" %) |-
567 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)134|(% style="text-align:center; vertical-align:middle; width:81px" %)P-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning complete|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is complete|(% style="vertical-align:middle; width:682px" %) |-
568 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)135|(% style="text-align:center; vertical-align:middle; width:81px" %)P-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning approach|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is approach|(% style="vertical-align:middle; width:682px" %) |-
569 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)136|(% style="text-align:center; vertical-align:middle; width:81px" %)V-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Consistent speed|(% style="vertical-align:middle; width:682px" %)In speed mode, when the absolute value of the difference between motor speed and speed instruction is less than the set value of P05-17, the signal is valid|(% style="vertical-align:middle; width:682px" %) |-
570 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)137|(% style="text-align:center; vertical-align:middle; width:81px" %)V-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Speed approach|(% style="vertical-align:middle; width:682px" %)(((
571 -* Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
572 -* Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
573 -)))|(% style="vertical-align:middle; width:682px" %) |-
574 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)138|(% style="text-align:center; vertical-align:middle; width:81px" %)T-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Torque arrival|(% style="vertical-align:middle; width:682px" %)(((
575 -* Invalid DO port logic: The absolute value of torque instruction is smaller than the set value.
576 -* Valid DO port logic: The absolute value of torque instruction reaches the set value.
577 -)))|(% style="vertical-align:middle; width:682px" %) |-
578 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)139|(% style="text-align:center; vertical-align:middle; width:81px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle; width:694px" %)Torque limit|(% style="vertical-align:middle; width:682px" %)(((
568 +Invalid DO port logic:invalid motor zero-speed signal
569 +
570 +Valid DO port logic: valid motor zero-speed signal
571 +)))|-
572 +|(% colspan="2" %) 134|P-COIN|Positioning complete|Output this signal indicates that the servo drive positioning is complete|-
573 +|(% colspan="2" %) 135|P-NEAR|Positioning approach|Output this signal indicates that the servo drive positioning is approach|-
574 +|(% colspan="2" %) 136|V-COIN|Consistent speed|In speed mode, when the absolute value of the difference between motor speed and speed instruction is less than the set value of P05-17, the signal is valid|-
575 +|(% colspan="2" %) 137|V-NEAR|Speed approach|(((
576 +Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
577 +
578 +Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
579 +)))|-
580 +|(% colspan="2" %) 138|T-COIN|Torque arrival|(((
581 +Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
582 +
583 +Valid DO port logic: The absolute value of torque instruction reaches the set value.
584 +)))|-
585 +|(% colspan="2" %) 139|T-LIMIT|Torque limit|(((
579 579  The confirmation signal of torque limit.
580 580  
581 -* Invalid DO port logic: The torque of motor is not limited
582 -* Valid DO port logic: The torque of motor is limited
583 -)))|(% style="vertical-align:middle; width:682px" %) |-
584 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)140|(% style="text-align:center; vertical-align:middle; width:81px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle; width:694px" %)Speed limited|(% style="vertical-align:middle; width:682px" %)(((
588 +Invalid DO port logic: The torque of motor is not limited
589 +
590 +Valid DO port logic: The torque of motor is limited
591 +)))|-
592 +|(% colspan="2" %) 140|V-LIMIT|Speed limited|(((
585 585  The confirmation signal of speed limit in torque mode.
586 586  
587 -* Invalid DO port logic: The motor speed is not limited
588 -* Valid DO port logic: The motor speed is limited
589 -)))|(% style="vertical-align:middle; width:682px" %) |-
590 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)141|(% style="text-align:center; vertical-align:middle; width:81px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle; width:694px" %)Brake output|(% style="vertical-align:middle; width:682px" %)(((
595 +Invalid DO port logic: The motor speed is not limited
596 +
597 +Valid DO port logic: The motor speed is limited
598 +)))|-
599 +|(% colspan="2" %) 141|BRK-OFF|Brake output|(((
591 591  Output brake signal
592 592  
593 -* Invalid DO port logic: The brake device does not operate
594 -* Valid DO port logic: The brake device operates
595 -)))|(% style="vertical-align:middle; width:682px" %) |Re-powering is required using this DO feature
596 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)142|(% style="text-align:center; vertical-align:middle; width:81px" %)SRV-ST|(% style="text-align:center; vertical-align:middle; width:694px" %)Servo on state output|(% style="vertical-align:middle; width:682px" %)(((
597 -* Invalid DO port logic: Servo motor is not operate
598 -* Valid DO port logic: Servo motor is in operation
599 -)))|(% style="vertical-align:middle; width:682px" %) |
600 -|(% colspan="1" rowspan="4" style="text-align:center; vertical-align:middle; width:126px" %)143|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
601 -VD2A
602 +Invalid DO port logic: The brake device does not operate
602 602  
604 +Valid DO port logic: The brake device operates
605 +)))|Re-powering is required using this DO feature
606 +|(% colspan="2" %) 142|SRV-ST|Servo on state output|(((
607 +Invalid DO port logic: Servo motor is not operate
608 +
609 +Valid DO port logic: Servo motor is in operation
610 +)))|
611 +|143|(((
612 +VD2A 、
613 +
603 603  VD2B
604 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|
605 -|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
606 -VD2-0xxSA1H
607 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
608 -OZ/OA/OB
609 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
615 +)))|None|-|-|
616 +|143|VD2-0xxSA1H|OZ/OA/OB|Z/A/B pulse output-|(((
610 610  DO2 set to 143 output Z pulse signal
611 611  
612 612  DO3 set to 143 output A pulse signal
613 613  
614 614  DO4 set to 143 output B pulse signal
615 -)))|(% style="vertical-align:middle; width:682px" %) |(((
616 --
622 +
623 +
624 +)))|(((
625 +Different DO ports output different pulse signals (see
626 +
627 +【6.2.6 Chapters 】Instructions)
617 617  )))
618 -|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
619 -VD2L
620 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
621 -OZ/OA/OB
622 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
629 +|143|VD2L|OZ/OA/OB|Z/A/B pulse output-|(((
623 623  DO2 set to 143 output Z pulse signal
624 624  
625 625  DO3 set to 143 output pulse signal
626 626  
627 627  DO4 set to 143 output direction signal
628 -)))|(% style="vertical-align:middle; width:682px" %)
629 -|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
630 -VD2F
631 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
632 -OZ
633 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z pulse output|(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
634 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)144|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:682px" %) |-
635 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)145|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
635 +
636 +
637 +)))|
638 +|143|VD2F|OZ|Z pulse outpu|Output is the signal to indicate that the servo drive rotates1 revalution|
639 +|(% colspan="2" %) 144|None|-|-|
640 +|(% colspan="2" %) 145|COM_VDO1|(((
636 636  Communication
637 637  
638 638  VDO1 output
639 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %) |(% colspan="1" rowspan="7" %)(((
640 -VD2-0xxSA1G
641 -
642 -V1.12 firmware support
643 -)))
644 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)146|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
644 +)))|Use communication VDO|
645 +|(% colspan="2" %) 146|COM_VDO2|(((
645 645  Communication
646 646  
647 647  VDO2 output
648 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
649 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)147|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
649 +)))|Use communication VDO|
650 +|(% colspan="2" %) 147|COM_VDO3|(((
650 650  Communication
651 651  
652 652  VDO3 output
653 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
654 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)148|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
654 +)))|Use communication VDO|
655 +|(% colspan="2" %) 148|COM_VDO4|(((
655 655  Communication
656 656  
657 657  VDO4 output
658 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
659 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)149|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
660 -HOME_ATTAIN
661 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
662 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %) |(% style="text-align:center; vertical-align:middle; width:81px" %) |(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
663 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %) |(% style="text-align:center; vertical-align:middle; width:81px" %) |(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
659 +)))|Use communication VDO|
660 +|(% colspan="2" %) 149|HOME_ATTAIN| |(((
661 +Invalid DO port logic: origin regression is not compete
664 664  
663 +Valid DO port logic: origin regression is not compete
664 +)))|(((
665 +VD2-0xxSA1G
666 +
667 +V1.12 firmware support
668 +)))
669 +
665 665  == **Group U0 Monitoring parameters** ==
666 666  
672 +(% style="margin-left:auto; margin-right:auto" %)
667 667  |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 223px;" %)**Name**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**Category**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**Unit**|=(% colspan="2" style="text-align:center; vertical-align:middle" %)**Modbus address**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**Data type**
668 668  |=(% style="text-align: center; vertical-align: middle;" %)**Hexadecimal**|=(% style="text-align:center; vertical-align:middle" %)**Decimal**
669 669  |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-01__|(% style="text-align:center; vertical-align:middle; width:223px" %)Servo Status|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)0x1E01|(% style="text-align:center; vertical-align:middle" %)7681|(% style="text-align:center; vertical-align:middle" %)16-bit
... ... @@ -744,6 +744,10 @@
744 744  |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-54__|(% style="text-align:center; vertical-align:middle; width:223px" %)Absolute encoder position in 1 circle|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)0x1E3D|(% style="text-align:center; vertical-align:middle" %)7741|(% style="text-align:center; vertical-align:middle" %)32-bit
745 745  |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-55__|(% style="text-align:center; vertical-align:middle; width:223px" %)Circle numbers of multi-turn absolute encoder|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Circle|(% style="text-align:center; vertical-align:middle" %)0x1E3F|(% style="text-align:center; vertical-align:middle" %)7743|(% style="text-align:center; vertical-align:middle" %)16-bit
746 746  |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-56__|(% style="text-align:center; vertical-align:middle; width:223px" %)Current position of multi-turn absolute encoder|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)0x1E41|(% style="text-align:center; vertical-align:middle" %)7745|(% style="text-align:center; vertical-align:middle" %)32-bit
753 +|** __U0-57__**| Reserved|Universal|-| 0x1E42| 7746|-
754 +|** __U0-58__**| Reserved|Universal|-| 0x1E43| 7747|-
755 +|** __U0-59__**|Bud voltage history maximum|Universal|V| 0x1E44| 7748| 16-bit
756 +|** __U0-60__**|Average power history maximum|Universal|W| 0x1E45| 7749| 16-bit
747 747  
748 748  == **Group U1 Warning monitoring** ==
749 749  
... ... @@ -799,57 +799,58 @@
799 799  
800 800  = **List of codes** =
801 801  
802 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 138px;" %)**Code**|=(% style="text-align: center; vertical-align: middle; width: 631px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)**Clearable**|=(% style="text-align: center; vertical-align: middle; width: 180px;" %)**Stop immediately**
803 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.01|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter damage|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
804 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.02|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter storage error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
805 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.03|(% style="text-align:center; vertical-align:middle; width:631px" %)ADC reference source error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
806 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.04|(% style="text-align:center; vertical-align:middle; width:631px" %)AD current sampling conversion error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
807 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.05|(% style="text-align:center; vertical-align:middle; width:631px" %)FPGA communication exception|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
808 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.06|(% style="text-align:center; vertical-align:middle; width:631px" %)FPGA incorrect program version|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
809 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.07|(% style="text-align:center; vertical-align:middle; width:631px" %)Clock exception|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
810 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.20|(% style="text-align:center; vertical-align:middle; width:631px" %)Overcurrent|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
811 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.21|(% style="text-align:center; vertical-align:middle; width:631px" %)Main power supply is undervoltage|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
812 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.22|(% style="text-align:center; vertical-align:middle; width:631px" %)Main power supply is overvoltage|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
813 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.23|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor is not connected|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
814 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.24|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor is abnormal|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
815 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.25|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor resistance is too large|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
816 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.26|(% style="text-align:center; vertical-align:middle; width:631px" %)Wrong motor model|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
817 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.27|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder is disconnected|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
818 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.28|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder Z pulse is lost|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
819 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.29|(% style="text-align:center; vertical-align:middle; width:631px" %)(((
820 -The incremental encoder AB count does not equal to the number of encoder lines multiply by 4
821 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
822 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.30|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder UVW signal error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
823 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.31|(% style="text-align:center; vertical-align:middle; width:631px" %)The power line is disconnected|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
824 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.32|(% style="text-align:center; vertical-align:middle; width:631px" %)Exceeding the maximum speed of motor|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
825 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.33|(% style="text-align:center; vertical-align:middle; width:631px" %)The power module is over temperature|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
826 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.34|(% style="text-align:center; vertical-align:middle; width:631px" %)Motor overload protection|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
827 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.35|(% style="text-align:center; vertical-align:middle; width:631px" %)Electronic gear ratio exceeds the limit|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
828 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.36|(% style="text-align:center; vertical-align:middle; width:631px" %)Position deviation is too large|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
829 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.37|(% style="text-align:center; vertical-align:middle; width:631px" %)Torque saturation is abnormal|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
830 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.38|(% style="text-align:center; vertical-align:middle; width:631px" %)The main circuit is electrically deficient|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
831 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.39|(% style="text-align:center; vertical-align:middle; width:631px" %)Emergency stop|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
832 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.40|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder battery failure|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
833 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.41|(% style="text-align:center; vertical-align:middle; width:631px" %)Motor (encoder) over temperature|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
834 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.42|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder write failure|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
835 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.60|(% style="text-align:center; vertical-align:middle; width:631px" %)ADC conversion is incomplete|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
836 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.61|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
837 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.62|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
838 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.63|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
839 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.64|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
840 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.65|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
841 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-81|(% style="text-align:center; vertical-align:middle; width:631px" %)Over speed alarm|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
842 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-82|(% style="text-align:center; vertical-align:middle; width:631px" %)Overload|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
843 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-83|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor is over temperature or overload|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
844 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-84|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter modification that needs to be powered on again|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
845 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-85|(% style="text-align:center; vertical-align:middle; width:631px" %)Receive position pulse when servo is OFF|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
846 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-86|(% style="text-align:center; vertical-align:middle; width:631px" %)Input pulse frequency is too high|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
847 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-88|(% style="text-align:center; vertical-align:middle; width:631px" %)Main circuit momentary is power off|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
848 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-89|(% style="text-align:center; vertical-align:middle; width:631px" %)DI port configuration is duplicate|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
849 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-90|(% style="text-align:center; vertical-align:middle; width:631px" %)DO port configuration is duplicate|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
850 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-91|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter modification is too frequent|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
851 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-92|(% style="text-align:center; vertical-align:middle; width:631px" %)low encoder battery voltage warning|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
852 -|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-93|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder read and write check abnormal and frequency is too high|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
812 +(% style="margin-left:auto; margin-right:auto" %)
813 +|=**Code**|=**Content**|=**Clearable**|=**Stop immediately**
814 +|=Er.01|(% style="text-align:center" %)Parameter damage|(% style="text-align:center" %) |(% style="text-align:center" %) O
815 +|=Er.02|(% style="text-align:center" %)Parameter storage error|(% style="text-align:center" %) |(% style="text-align:center" %)O
816 +|=Er.03|(% style="text-align:center" %)ADC reference source error|(% style="text-align:center" %) |(% style="text-align:center" %)O
817 +|=Er.04|(% style="text-align:center" %)AD current sampling conversion error|(% style="text-align:center" %) |(% style="text-align:center" %)O
818 +|=Er.05|(% style="text-align:center" %)FPGA communication exception|(% style="text-align:center" %) |(% style="text-align:center" %)O
819 +|=Er.06|(% style="text-align:center" %)FPGA incorrect program version|(% style="text-align:center" %) |(% style="text-align:center" %)O
820 +|=Er.07|(% style="text-align:center" %)Clock exception|(% style="text-align:center" %) |(% style="text-align:center" %)O
821 +|=Er.20|(% style="text-align:center" %)Software overcurrent|(% style="text-align:center" %) |(% style="text-align:center" %)O
822 +|=Er.20|(% style="text-align:center" %)Overcurrent|(% style="text-align:center" %) |(% style="text-align:center" %)O
823 +|=Er.21|(% style="text-align:center" %)Main power supply is undervoltage|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
824 +|=Er.22|(% style="text-align:center" %)Main power supply is overvoltage|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
825 +|=Er.23|(% style="text-align:center" %)Braking resistor is not connected|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
826 +|=Er.24|(% style="text-align:center" %)Braking resistor is abnormal|(% style="text-align:center" %) |(% style="text-align:center" %)O
827 +|=Er.25|(% style="text-align:center" %)Braking resistor resistance is too large|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
828 +|=Er.26|(% style="text-align:center" %)Wrong motor model|(% style="text-align:center" %) |(% style="text-align:center" %)O
829 +|=Er.27|(% style="text-align:center" %)Encoder is disconnected|(% style="text-align:center" %) |(% style="text-align:center" %)O
830 +|=Er.28|(% style="text-align:center" %)Encoder Z pulse is lost|(% style="text-align:center" %) |(% style="text-align:center" %)O
831 +|=Er.30|(% style="text-align:center" %)Encoder UVW signal error|(% style="text-align:center" %) |(% style="text-align:center" %)O
832 +|=Er.31|(% style="text-align:center" %)The power cable is disconnected|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
833 +|=Er.32|(% style="text-align:center" %)Exceeding the maximum speed of motor|(% style="text-align:center" %) |(% style="text-align:center" %)O
834 +|=Er.33|(% style="text-align:center" %)The power module is over temperature|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
835 +|=Er.34|(% style="text-align:center" %)Motor overload protection|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
836 +|=Er.35|(% style="text-align:center" %)Electronic gear ratio exceeds the limit|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
837 +|=Er.36|(% style="text-align:center" %)Position deviation is too large|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
838 +|=Er.37|(% style="text-align:center" %)Torque saturation is abnormal|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
839 +|=Er.38|(% style="text-align:center" %)The main circuit is electrically deficient|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
840 +|=Er.39|(% style="text-align:center" %)Emergency stop|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
841 +|=Er.40|(% style="text-align:center" %)Encoder battery failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
842 +|=Er.41|(% style="text-align:center" %)Motor (encoder) over temperature|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
843 +|=Er.42|(% style="text-align:center" %)Encoder write failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
844 +|=Er.43|(% style="text-align:center" %)Driver overload failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
845 +|=Er.44|(% style="text-align:center" %)Return to origin timeout failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
846 +|=Er.45|(% style="text-align:center" %)Drive plug over temperature protection|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
847 +|=Er.60|(% style="text-align:center" %)ADC conversion is incomplete|(% style="text-align:center" %) |(% style="text-align:center" %)O
848 +|=Er.61|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
849 +|=Er.62|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
850 +|=Er.63|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
851 +|=Er.64|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
852 +|=Er.65|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
853 +|=A-81|(% style="text-align:center" %)Over speed alarm|(% style="text-align:center" %) |(% style="text-align:center" %)
854 +|=A-82|(% style="text-align:center" %)Overload|(% style="text-align:center" %)✔|(% style="text-align:center" %)
855 +|=A-83|(% style="text-align:center" %)Braking resistor is over temperature or overload|(% style="text-align:center" %)✔|(% style="text-align:center" %)
856 +|=A-84|(% style="text-align:center" %)Parameter modification that needs to be powered on again|(% style="text-align:center" %)✔|(% style="text-align:center" %)
857 +|=A-86|(% style="text-align:center" %)Input pulse frequency is too high|(% style="text-align:center" %)✔|(% style="text-align:center" %)
858 +|=A-88|(% style="text-align:center" %)Main circuit momentary is power off|(% style="text-align:center" %)✔|(% style="text-align:center" %)
859 +|=A-89|(% style="text-align:center" %)DI port configuration is duplicate|(% style="text-align:center" %)✔|(% style="text-align:center" %)
860 +|=A-90|(% style="text-align:center" %)DO port configuration is duplicate|(% style="text-align:center" %)✔|(% style="text-align:center" %)
861 +|=A-91|(% style="text-align:center" %)Parameter modification is too frequent|(% style="text-align:center" %)✔|(% style="text-align:center" %)
862 +|=A-92|(% style="text-align:center" %)low encoder battery voltage warning|(% style="text-align:center" %)✔|(% style="text-align:center" %)
863 +|=A-93|(% style="text-align:center" %)Encoder read and write check abnormal and frequency is too high|(% style="text-align:center" %)✔|(% style="text-align:center" %)
853 853  
854 854  Clearable: The panel can be stopped displaying the status by giving a "clear signal"
855 855