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Changes for page 11 Appendix

Last modified by Wecon on 2025/09/12 15:35
From version 1.5
edited by Iris
on 2025/09/08 14:01
Change comment: There is no comment for this version
To version 1.1
edited by Wecon
on 2025/09/03 21:04
Change comment: Imported from XAR

Summary

Details

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Author
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1 -XWiki.Iris
1 +XWiki.Wecon
Content
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38 38  
39 39  == **Group P00 Basic settings** ==
40 40  
41 +(% class="table-striped" %)
42 +|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 157px;" %)**Function code**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:251px" %)**Name**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:181px" %)**Setting method**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:226px" %)**Effective time**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:103px" %)**Default**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:148px" %)**Range**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:100px" %)**Unit**|=(% colspan="2" style="text-align:center; vertical-align:middle; width:137px" %)(% class="box warningmessage" %)
43 +(((
44 +**Modbus address**
45 +)))|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)**Data type**
46 +|=(% style="text-align: center; vertical-align: middle;" %)**Hexadecimal**|=(% style="text-align:center; vertical-align:middle; width:32px" %)**Decimal**
47 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-01__|(% style="text-align:center; vertical-align:middle; width:251px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle; width:32px" %)1|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
48 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-04__|(% style="text-align:center; vertical-align:middle; width:251px" %)Rotation direction|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0004|(% style="text-align:center; vertical-align:middle; width:32px" %)4|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
49 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-05__|(% style="text-align:center; vertical-align:middle; width:251px" %)Servo OFF shutdown mode|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0005|(% style="text-align:center; vertical-align:middle; width:32px" %)5|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
50 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-09__|(% style="text-align:center; vertical-align:middle; width:251px" %)Braking resistance setting|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 3|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0009|(% style="text-align:center; vertical-align:middle; width:32px" %)9|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
51 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-10__|(% style="text-align:center; vertical-align:middle; width:251px" %)External braking resistor resistance|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)50|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:100px" %)Ω|(% style="text-align:center; vertical-align:middle" %)0x000A|(% style="text-align:center; vertical-align:middle; width:32px" %)10|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
52 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-11__|(% style="text-align:center; vertical-align:middle; width:251px" %)External braking resistor power|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)100|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:100px" %)W|(% style="text-align:center; vertical-align:middle" %)0x000B|(% style="text-align:center; vertical-align:middle; width:32px" %)11|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
53 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-12__|(% style="text-align:center; vertical-align:middle; width:251px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 5|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x000C|(% style="text-align:center; vertical-align:middle; width:32px" %)12|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
54 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-13__|(% style="text-align:center; vertical-align:middle; width:251px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)300|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 500|(% style="text-align:center; vertical-align:middle; width:100px" %)kHz|(% style="text-align:center; vertical-align:middle" %)0x000D|(% style="text-align:center; vertical-align:middle; width:32px" %)13|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
55 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-14__|(% style="text-align:center; vertical-align:middle; width:251px" %)Position pulse anti-interference grade|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)2|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 9|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x000E|(% style="text-align:center; vertical-align:middle; width:32px" %)14|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
56 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-16__|(% style="text-align:center; vertical-align:middle; width:251px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)10000|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 131072|(% style="text-align:center; vertical-align:middle; width:100px" %)Instruction pulse unit|(% style="text-align:center; vertical-align:middle" %)0x0010|(% style="text-align:center; vertical-align:middle; width:32px" %)16|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
57 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-17__|(% style="text-align:center; vertical-align:middle; width:251px" %)Electronic gear 1 numerator|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0012|(% style="text-align:center; vertical-align:middle; width:32px" %)18|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
58 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-18__|(% style="text-align:center; vertical-align:middle; width:251px" %)Electronic gear 1 denominator|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0014|(% style="text-align:center; vertical-align:middle; width:32px" %)20|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
59 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-19__|(% style="text-align:center; vertical-align:middle; width:251px" %)Electronic Gear 2 nominator|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0016|(% style="text-align:center; vertical-align:middle; width:32px" %)22|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
60 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-20__|(% style="text-align:center; vertical-align:middle; width:251px" %)Electronic gear 2 denominator|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 4294967294|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0018|(% style="text-align:center; vertical-align:middle; width:32px" %)24|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
61 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-21__|(% style="text-align:center; vertical-align:middle; width:251px" %)Pulse frequency division output direction|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x001A|(% style="text-align:center; vertical-align:middle; width:32px" %)26|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
62 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-22__|(% style="text-align:center; vertical-align:middle; width:251px" %)Number of output pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)2500|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 2500|(% style="text-align:center; vertical-align:middle; width:100px" %)Pulse unit|(% style="text-align:center; vertical-align:middle" %)0x001B|(% style="text-align:center; vertical-align:middle; width:32px" %)27|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
63 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-23__|(% style="text-align:center; vertical-align:middle; width:251px" %)Z pulse output OZ polarity|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x001C|(% style="text-align:center; vertical-align:middle; width:32px" %)28|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
64 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-24__|(% style="text-align:center; vertical-align:middle; width:251px" %)Z pulse output|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)3|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 200|(% style="text-align:center; vertical-align:middle; width:100px" %)(((
65 +ms
66 +)))|(% style="text-align:center; vertical-align:middle" %)0x001D|(% style="text-align:center; vertical-align:middle; width:32px" %)29|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
67 +16-bit
68 +)))
69 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-25__|(% style="text-align:center; vertical-align:middle; width:251px" %)Position deviation limit|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)60000|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 2147483646|(% style="text-align:center; vertical-align:middle; width:100px" %)Equivalent pulse unit|(% style="text-align:center; vertical-align:middle" %)0x001E|(% style="text-align:center; vertical-align:middle; width:32px" %)30|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
70 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-27__|(% style="text-align:center; vertical-align:middle; width:251px" %)Pulse output frequency division numerator|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 2500|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0021|(% style="text-align:center; vertical-align:middle; width:32px" %)33|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
71 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-28__|(% style="text-align:center; vertical-align:middle; width:251px" %)Pulse output frequency division denominator|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)1|(% style="text-align:center; vertical-align:middle; width:148px" %)1 to 2500|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0022|(% style="text-align:center; vertical-align:middle; width:32px" %)34|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
72 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-29__|(% style="text-align:center; vertical-align:middle; width:251px" %)Number of equivalent position unit in a circle|(% style="text-align:center; vertical-align:middle; width:181px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:103px" %)10000|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 131072|(% style="text-align:center; vertical-align:middle; width:100px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0023|(% style="text-align:center; vertical-align:middle; width:32px" %)35|(% style="text-align:center; vertical-align:middle; width:142px" %)32-bit
73 +|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)__P00-30__|(% style="text-align:center; vertical-align:middle; width:251px" %)Shield multi-turn absolute encoder battery fault|(% style="text-align:center; vertical-align:middle; width:181px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:226px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:148px" %)0 to 3|(% style="text-align:center; vertical-align:middle; width:100px" %) |(% style="text-align:center; vertical-align:middle" %)0x0025|(% style="text-align:center; vertical-align:middle; width:32px" %)37|(% style="text-align:center; vertical-align:middle; width:142px" %)16-bit
74 +|=**__P00-31__**|Encoder read-write verification exception threshold setting|Operation setting|Effective immediately|20|0 to 100|-|0x0026|38|16-bit
41 41  
42 -|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Name**|(% rowspan="2" %)**Setting method**|(% rowspan="2" %)**Effective time**|(% rowspan="2" %)**Default**|(% rowspan="2" %)**Range**|(% rowspan="2" %)**Unit**|(% colspan="2" %)**Modbus address**|(% rowspan="2" %)**Data type**
43 -|**Hexadecimal**|**Decimal**
44 -|P00-01|Control mode|Shutdown setting|Effective immediately|1|1 to 6|-|0x0001|1|16-bit
45 -|P00-04|Rotation direction|Shutdown setting|Effective immediately|0|0 to 2|-|0x0004|4|16-bit
46 -|P00-05|Servo OFF shutdown mode|Shutdown setting|Effective immediately|0|0 to 2|-|0x0005|5|16-bit
47 -|P00-06|Servo overrun shutdown mode|Shutdown setting|Effective immediately|2|1 to 2|-|0x0006|6|16-bit
48 -|P00-09|Braking resistance setting|Operation setting|Effective immediately|0|0 to 3|-|0x0009|9|16-bit
49 -|P00-10|External braking resistor resistance|Operation setting|Effective immediately|50|0 to 65535|Ω|0x000A|10|16-bit
50 -|P00-11|External braking resistor power|Operation setting|Effective immediately|100|0 to 65535|W|0x000B|11|16-bit
51 -|P00-12|Position pulse type selection|Operation setting|Power-on again|0|0 to 5|-|0x000C|12|16-bit
52 -|P00-14|Maximum position pulse frequency|Shutdown setting|Effective immediately|3|0 to 9|-|0x000E|14|16-bit
53 -|P00-16|Number of instruction pulses when the motor rotates one circle|Shutdown setting|Effective immediately|10000|0 to 131072|Instruction pulse unit|0x0010|16|32-bit
54 -|P00-17|Electronic gear 1 numerator|Operation setting|Effective immediately|1|1 to 4294967294|-|0x0012|18|32-bit
55 -|P00-18|Electronic gear 1 denominator|Operation setting|Effective immediately|1|1 to 4294967294|-|0x0014|20|32-bit
56 -|P00-19|Electronic Gear 2 nominator|Operation setting|Effective immediately|1|1 to 4294967294|-|0x0016|22|32-bit
57 -|P00-20|Electronic gear 2 denominator|Operation setting|Effective immediately|1|1 to 4294967294|-|0x0018|24|32-bit
58 -|P00-21|Pulse frequency division output direction|Operation setting|Power-on again|0|0 to 1|-|0x001A|26|16-bit
59 -|P00-22|Number of output pulses when the motor rotates one circle|Operation setting|Power-on again|2500|0 to 2500|Pulse unit|0x001B|27|16-bit
60 -|P00-23|Z pulse output OZ polarity|Operation setting|Power-on again|0|0 to 1|-|0x001C|28|16-bit
61 -|P00-24|Z pulse output|Operation setting|Power-on again|3|0 to 200|ms|0x001D|29|16-bit
62 -|P00-25|Position deviation limit|Shutdown setting|Effective immediately|60000|0 to 2147483646|Equivalent pulse unit|0x001E|30|32-bit
63 -|P00-27|Pulse output frequency division numerator|Operation setting|Power-on again|1|1 to 2500|-|0x0021|33|16-bit
64 -|P00-28|Pulse output frequency division denominator|Operation setting|Power-on again|1|1 to 2500|-|0x0022|34|16-bit
65 -|P00-29|Number of equivalent position unit in a circle|Shutdown setting|Effective immediately|10000|0 to 131072|-|0x0023|35|32-bit
66 -|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power-on again|0|0 to 3|-|0x0025|37|16-bit
67 -|P00-31|Encoder read-write verification exception threshold setting|Operation setting|Effective immediately|20|0 to 100|-|0x0026|38|16-bit
68 -
69 69  == **Group P01 Control parameter** ==
70 70  
78 +(% style="margin-left:auto; margin-right:auto" %)
79 +|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 159px;" %)**Function code**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:240px" %)**Name**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:189px" %)**Setting method**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 210px;" %)**Effective time**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 108px;" %)**Default**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 157px;" %)**Range**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 118px;" %)**Unit**|=(% colspan="2" style="text-align: center; vertical-align: middle; width: 187px;" %)**Modbus address**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 130px;" %)**Data type**
80 +|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Hexadecimal**|=(% style="text-align: center; vertical-align: middle; width: 85px;" %)**Decimal**
81 +|=P01-01|(% style="text-align:center; vertical-align:middle; width:240px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0101|(% style="text-align:center; vertical-align:middle; width:85px" %)257|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
82 +|=P01-02|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 0|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)-6000 to 6000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0102|(% style="text-align:center; vertical-align:middle; width:85px" %)258|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
83 +|=P01-03|(% style="text-align:center; vertical-align:middle; width:240px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)50|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0103|(% style="text-align:center; vertical-align:middle; width:85px" %)259|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
84 +|=P01-04|(% style="text-align:center; vertical-align:middle; width:240px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)50|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0104|(% style="text-align:center; vertical-align:middle; width:85px" %)260|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
85 +|=P01-05|Shutdown deceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)50|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0105|(% style="text-align:center; vertical-align:middle; width:85px" %)261|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
86 +|=P01-06|(% style="text-align:center; vertical-align:middle; width:240px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0106|(% style="text-align:center; vertical-align:middle; width:85px" %)262|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
87 +|=P01-07|(% style="text-align:center; vertical-align:middle; width:240px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0107|(% style="text-align:center; vertical-align:middle; width:85px" %)263|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
88 +|=P01-08|(% style="text-align:center; vertical-align:middle; width:240px" %)Torque instruction keyboard setting value|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:118px" %)0.1%|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0108|(% style="text-align:center; vertical-align:middle; width:85px" %)264|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
89 +|=P01-09|(% style="text-align:center; vertical-align:middle; width:240px" %)Source of speed limit in torque mode|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0109|(% style="text-align:center; vertical-align:middle; width:85px" %)265|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
90 +|=P01-10|(% style="text-align:center; vertical-align:middle; width:240px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3600|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 8000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x010A|(% style="text-align:center; vertical-align:middle; width:85px" %)266|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
91 +|=P01-11|(% style="text-align:center; vertical-align:middle; width:240px" %)Warning speed threshold|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3300|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 8000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x010B|(% style="text-align:center; vertical-align:middle; width:85px" %)267|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
92 +|=P01-12|(% style="text-align:center; vertical-align:middle; width:240px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x010C|(% style="text-align:center; vertical-align:middle; width:85px" %)268|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
93 +|=P01-13|(% style="text-align:center; vertical-align:middle; width:240px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x010D|(% style="text-align:center; vertical-align:middle; width:85px" %)269|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
94 +|=P01-14|(% style="text-align:center; vertical-align:middle; width:240px" %)Torque limit source|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x010E|(% style="text-align:center; vertical-align:middle; width:85px" %)270|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
95 +|=P01-15|(% style="text-align:center; vertical-align:middle; width:240px" %)Forward torque limit|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:118px" %)0.1%|(% style="text-align:center; vertical-align:middle; width:103px" %)0x010F|(% style="text-align:center; vertical-align:middle; width:85px" %)271|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
96 +|=P01-16|(% style="text-align:center; vertical-align:middle; width:240px" %)Reverse torque limit|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:118px" %)0.1%|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0110|(% style="text-align:center; vertical-align:middle; width:85px" %)272|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
97 +|=P01-17|(% style="text-align:center; vertical-align:middle; width:240px" %)Forward speed limit in torque mode|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0111|(% style="text-align:center; vertical-align:middle; width:85px" %)273|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
98 +|=P01-18|(% style="text-align:center; vertical-align:middle; width:240px" %)Reverse speed limit in torque mode|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0112|(% style="text-align:center; vertical-align:middle; width:85px" %)274|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
99 +|=P01-19|(% style="text-align:center; vertical-align:middle; width:240px" %)Torque saturation timeout period|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="text-align:center; vertical-align:middle; width:157px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0113|(% style="text-align:center; vertical-align:middle; width:85px" %)275|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
100 +|=P01-21|(% style="text-align:center; vertical-align:middle; width:240px" %)Zero-speed clamp function selection|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)3000|(% style="width:157px" %)0 to 3|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0115|(% style="text-align:center; vertical-align:middle; width:85px" %)277|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
101 +|=P01-22|(% style="text-align:center; vertical-align:middle; width:240px" %)Zero speed clamp speed threshold|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)1000|(% style="width:157px" %)0 to 6000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0116|(% style="text-align:center; vertical-align:middle; width:85px" %)278|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
102 +|=P01-23|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 1|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0117|(% style="text-align:center; vertical-align:middle; width:85px" %)279|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
103 +|=P01-24|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 2|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0118|(% style="text-align:center; vertical-align:middle; width:85px" %)280|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
104 +|=P01-25|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 3|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0119|(% style="text-align:center; vertical-align:middle; width:85px" %)281|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
105 +|=P01-26|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 4|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x011A|(% style="text-align:center; vertical-align:middle; width:85px" %)282|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
106 +|=P01-27|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 5|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x011B|(% style="text-align:center; vertical-align:middle; width:85px" %)283|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
107 +|=P01-28|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 6|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x011C|(% style="text-align:center; vertical-align:middle; width:85px" %)284|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
108 +|=P01-29|(% style="text-align:center; vertical-align:middle; width:240px" %)Internal speed instruction 7|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)-6000 to 6000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x011D|(% style="text-align:center; vertical-align:middle; width:85px" %)285|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
109 +|=P01-30|(% style="text-align:center; vertical-align:middle; width:240px" %)Delay from brake output ON to instruction reception|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)0 to 500|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x011E|(% style="text-align:center; vertical-align:middle; width:85px" %)286|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
110 +|=P01-31|(% style="text-align:center; vertical-align:middle; width:240px" %)In the static state, delay from the brake output is OFF to the motor is not energized.|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)1 to 1000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x011F|(% style="text-align:center; vertical-align:middle; width:85px" %)287|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
111 +|=P01-32|(% style="text-align:center; vertical-align:middle; width:240px" %)Rotation state, when the brake output is OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)250|(% style="width:157px" %)0 to 3000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0120|(% style="text-align:center; vertical-align:middle; width:85px" %)288|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
112 +|=P01-33|(% style="text-align:center; vertical-align:middle; width:240px" %)Rotation status, delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)150|(% style="width:157px" %)1 to 2000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0121|(% style="text-align:center; vertical-align:middle; width:85px" %)289|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
113 +|=P01-37|(% style="text-align:center; vertical-align:middle; width:240px" %)JOG acceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)500|(% style="width:157px" %)1 to 5000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0125|(% style="text-align:center; vertical-align:middle; width:85px" %)293|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
114 +|=P01-38|(% style="text-align:center; vertical-align:middle; width:240px" %)JOG deceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)500|(% style="width:157px" %)1 to 5000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0126|(% style="text-align:center; vertical-align:middle; width:85px" %)294|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
115 +|=P01-38|(% style="text-align:center; vertical-align:middle; width:240px" %)JOG deceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)500|(% style="width:157px" %)1 to 5000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0126|(% style="text-align:center; vertical-align:middle; width:85px" %)294|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
116 +|=P01-39|(% style="text-align:center; vertical-align:middle; width:240px" %)Home return startup mode|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)0 to 4|(% style="width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0127|(% style="text-align:center; vertical-align:middle; width:85px" %)295|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
117 +|=P01-40|(% style="text-align:center; vertical-align:middle; width:240px" %)Home return mode|(% style="text-align:center; vertical-align:middle; width:189px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)0|(% style="width:157px" %)0 to 35|(% style="width:118px" %)-|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0128|(% style="text-align:center; vertical-align:middle; width:85px" %)296|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
118 +|=P01-41|(% style="text-align:center; vertical-align:middle; width:240px" %)High-speed search for deceleration point signal speed|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)600|(% style="width:157px" %)1 to 3000|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x0129|(% style="text-align:center; vertical-align:middle; width:85px" %)297|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
119 +|=P01-42|(% style="text-align:center; vertical-align:middle; width:240px" %)Low Search Home Signal Speed|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)60|(% style="width:157px" %)1 to 300|(% style="width:118px" %)rpm|(% style="text-align:center; vertical-align:middle; width:103px" %)0x012A|(% style="text-align:center; vertical-align:middle; width:85px" %)298|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
120 +|=P01-43|(% style="text-align:center; vertical-align:middle; width:240px" %)Home return acceleration and deceleration time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)50|(% style="width:157px" %)1 to 1000|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x012B|(% style="text-align:center; vertical-align:middle; width:85px" %)299|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
121 +|=P01-44|(% style="text-align:center; vertical-align:middle; width:240px" %)Home return overtime bounded time|(% style="text-align:center; vertical-align:middle; width:189px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:108px" %)65535|(% style="width:157px" %)100 to 65535|(% style="width:118px" %)ms|(% style="text-align:center; vertical-align:middle; width:103px" %)0x012C|(% style="text-align:center; vertical-align:middle; width:85px" %)300|(% style="text-align:center; vertical-align:middle; width:130px" %)16-bit
71 71  
72 -|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Name**|(% rowspan="2" %)**Setting method**|(% rowspan="2" %)**Effective time**|(% rowspan="2" %)**Default**|(% rowspan="2" %)**Range**|(% rowspan="2" %)**Unit**|(% colspan="2" %)**Modbus address**|(% rowspan="2" %)**Data type**
73 -|**Hexadecimal**|**Decimal**
74 -|P01-01|Speed instruction source|Shutdown setting|Effective immediately|0|0 to 1|-|0x0101|257|16-bit
75 -|P01-02|Internal speed instruction 0|Operation setting|Effective immediately|0|-6000 to 6000|rpm|0x0102|258|16-bit
76 -|P01-03|Acceleration time|Operation setting|Effective immediately|50|0 to 65535|ms|0x0103|259|16-bit
77 -|P01-04|Deceleration time|Operation setting|Effective immediately|50|0 to 65535|ms|0x0104|260|16-bit
78 -|P01-05|Shutdown deceleration time|Shutdown setting|Effective immediately|50|0 to 65535|ms|0x0105|261|16-bit
79 -|P01-06|Position instruction source|Operation setting|Effective immediately|0|0 to 1|-|0x0106|262|16-bit
80 -|P01-07|Torque instruction source|Shutdown setting|Effective immediately|0|0 to 1|-|0x0107|263|16-bit
81 -|P01-08|Torque instruction keyboard setting value|Operation setting|Effective immediately|0|-3000 to 3000|0.1%|0x0108|264|16-bit
82 -|P01-09|Source of speed limit in torque mode|Shutdown setting|Effective immediately|0|0 to 1|-|0x0109|265|16-bit
83 -|P01-10|Maximum speed threshold|Operation setting|Effective immediately|3600|0 to 8000|rpm|0x010A|266|16-bit
84 -|P01-11|Warning speed threshold|Operation setting|Effective immediately|3300|0 to 8000|rpm|0x010B|267|16-bit
85 -|P01-12|Forward speed threshold|Operation setting|Effective immediately|3000|0 to 6000|rpm|0x010C|268|16-bit
86 -|P01-13|Reverse speed threshold|Operation setting|Effective immediately|3000|0 to 6000|rpm|0x010D|269|16-bit
87 -|P01-14|Torque limit source|Shutdown setting|Effective immediately|0|0 to 1|-|0x010E|270|16-bit
88 -|P01-15|Forward torque limit|Operation setting|Effective immediately|3000|0 to 3000|0.1%|0x010F|271|16-bit
89 -|P01-16|Reverse torque limit|Operation setting|Effective immediately|3000|0 to 3000|0.1%|0x0110|272|16-bit
90 -|P01-17|Forward torque limit in torque mode|Operation setting|Effective immediately|3000|0 to 6000|rpm|0x0111|273|16-bit
91 -|P01-18|Reverse torque limit in torque mode|Operation setting|Effective immediately|3000|0 to 6000|rpm|0x0112|274|16-bit
92 -|P01-19|Torque saturation timeout period|Operation setting|Effective immediately|3000|0 to 65535|ms|0x0113|275|16-bit
93 -|P01-21|Zero-speed clamp function selection|Operation setting|Effective immediately|0|0 to 3|-|0x0115|277|16-bit
94 -|P01-22|Zero speed clamp speed threshold|Operation setting|Effective immediately|20|0 to 6000|rpm|0x0116|278|16-bit
95 -|P01-23|Internal speed instruction 1|Operation setting|Effective immediately|0|-6000 to 6000|rpm|0x0117|279|16-bit
96 -|P01-24|Internal speed instruction 2|Operation setting|Effective immediately|0|-6000 to 6000|rpm|0x0118|280|16-bit
97 -|P01-25|Internal speed instruction 3|Operation setting|Effective immediately|0|-6000 to 6000|rpm|0x0119|281|16-bit
98 -|P01-26|Internal speed instruction 4|Operation setting|Effective immediately|0|-6000 to 6000|rpm|0x011A|282|16-bit
99 -|P01-27|Internal speed instruction 5|Operation setting|Effective immediately|0|-6000 to 6000|rpm|0x011B|283|16-bit
100 -|P01-28|Pulse output frequency division denominator|Operation setting|Power-on again|0|-6000 to 6000|rpm|0x011C|284|16-bit
101 -|P01-29|Number of equivalent position unit in a circle|Shutdown setting|Effective immediately|0|-6000 to 6000|rpm|0x011D|285|16-bit
102 -|P01-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power-on again|250|0 to 500|ms|0x011E|286|16-bit
103 -|P01-31|Encoder read-write verification exception threshold setting|Operation setting|Effective immediately|150|1 to 1000|ms|0x011F|287|16-bit
104 -|P01-32|Rotating state, when the lock output OFF,|Operation settin|Effective immediately|30|0 to 3000|rpm|0x0120|288|16-bit
105 -|P01-33| RPM threshold|Operation settin|Effective immediately|500|1 to 2000|ms|0x0121|289|16-bit
106 -|P01-37| Rotation state, servo-enabled OFF|Operation settin|Effective immediately|500|1 to 5000|ms|0x0125|293|16-bit
107 -|P01-38| To the gate output OFF delay|Operation settin|Effective immediately|500|1 to 5000|ms|0x0126|294|16-bit
108 -|P01-39| JOG acceleration time|Shutdown setting|Effective immediately|0|0 to 4|-|0x0127|295|16-bit
109 -|P01-40| JOG deceleration time|Shutdown setting|Effective immediately|0|0 to 35|-|0x0128|296|16-bit
110 -|P01-41| Origin regression start-up method|Operation settin|Effective immediately|600|1 to 3000|rpm|0x0129|297|16-bit
111 -|P01-42| Origins Regression Mode|Operation settin|Effective immediately|60|1 to 300|rpm|0x012A|298|16-bit
112 -|P01-43| High speed search deceleration point signal speed|Operation settin|Effective immediately|50|1 to 1000|ms|0x012B|299|16-bit
113 -|P01-44| Low speed search origin signal speed|Operation settin|Effective immediately|65535|100 to 65535|ms|0x012C|300|16-bit
114 -
115 115  == **Group P02 Gain adjustment** ==
116 116  
125 +|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 164px;" %)**Function code**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 227px;" %)**Name**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 173px;" %)**Setting method**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 219px;" %)**Effective time**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 117px;" %)**Default**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 168px;" %)**Range**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 114px;" %)**Unit**|=(% colspan="2" style="text-align: center; vertical-align: middle; width: 200px;" %)**Modbus address**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 121px;" %)**Data type**
126 +|=(% style="text-align: center; vertical-align: middle; width: 86px;" %)**Hexadecimal**|=(% style="text-align: center; vertical-align: middle; width: 94px;" %)**Decimal**
127 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-01__|(% style="text-align:center; vertical-align:middle; width:227px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)400|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 6200|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1Hz|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0201|(% style="text-align:center; vertical-align:middle; width:94px" %)513|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
128 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-02__|(% style="text-align:center; vertical-align:middle; width:227px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)65|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 35000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1Hz|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0202|(% style="text-align:center; vertical-align:middle; width:94px" %)514|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
129 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-03__|(% style="text-align:center; vertical-align:middle; width:227px" %)1st speed loop integral time constant|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)100 to 65535|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1ms|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0203|(% style="text-align:center; vertical-align:middle; width:94px" %)515|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
130 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-04__|(% style="text-align:center; vertical-align:middle; width:227px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)35|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 6200|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1Hz|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0204|(% style="text-align:center; vertical-align:middle; width:94px" %)516|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
131 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-05__|(% style="text-align:center; vertical-align:middle; width:227px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)65|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 35000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1Hz|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0205|(% style="text-align:center; vertical-align:middle; width:94px" %)517|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
132 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-06__|(% style="text-align:center; vertical-align:middle; width:227px" %)2nd speed loop integral time constant|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 65535|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1ms|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0206|(% style="text-align:center; vertical-align:middle; width:94px" %)518|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
133 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-07__|(% style="text-align:center; vertical-align:middle; width:227px" %)2nd gain switching mode|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 3|(% style="text-align:center; vertical-align:middle; width:114px" %)-|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0207|(% style="text-align:center; vertical-align:middle; width:94px" %)519|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
134 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-08__|(% style="text-align:center; vertical-align:middle; width:227px" %)Gain switch condition limit |(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10|(% style="text-align:center; vertical-align:middle; width:114px" %) |(% style="text-align:center; vertical-align:middle; width:86px" %)0x0208|(% style="text-align:center; vertical-align:middle; width:94px" %)520|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
135 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-09__|(% style="text-align:center; vertical-align:middle; width:227px" %)Speed feedforward gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1%|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0209|(% style="text-align:center; vertical-align:middle; width:94px" %)521|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
136 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-10__|(% style="text-align:center; vertical-align:middle; width:227px" %)Speed feedforward filter time constant|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)50|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.01ms|(% style="text-align:center; vertical-align:middle; width:86px" %)0x020A|(% style="text-align:center; vertical-align:middle; width:94px" %)522|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
137 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-11__|(% style="text-align:center; vertical-align:middle; width:227px" %)Torque feedforward gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 2000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1%|(% style="text-align:center; vertical-align:middle; width:86px" %)0x020B|(% style="text-align:center; vertical-align:middle; width:94px" %)523|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
138 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-12__|(% style="text-align:center; vertical-align:middle; width:227px" %)Torque feedforward filter time constant|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)50|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.01ms|(% style="text-align:center; vertical-align:middle; width:86px" %)0x020C|(% style="text-align:center; vertical-align:middle; width:94px" %)524|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
139 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-13__|(% style="text-align:center; vertical-align:middle; width:227px" %)Delay Time for Gain Switching|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)20|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1ms|(% style="text-align:center; vertical-align:middle; width:86px" %)0x020D|(% style="text-align:center; vertical-align:middle; width:94px" %)525|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
140 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-14__|(% style="text-align:center; vertical-align:middle; width:227px" %)Gain switching grade|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)50|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:114px" %) |(% style="text-align:center; vertical-align:middle; width:86px" %)0x020E|(% style="text-align:center; vertical-align:middle; width:94px" %)526|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
141 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-15__|(% style="text-align:center; vertical-align:middle; width:227px" %)Gain switching hysteresis|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)20|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:114px" %) |(% style="text-align:center; vertical-align:middle; width:86px" %)0x020F|(% style="text-align:center; vertical-align:middle; width:94px" %)527|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
142 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-16__|(% style="text-align:center; vertical-align:middle; width:227px" %)Position loop gain switching time|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)30|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1ms|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0210|(% style="text-align:center; vertical-align:middle; width:94px" %)528|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
143 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-20__|(% style="text-align:center; vertical-align:middle; width:227px" %)Enable model tracking control function|(% style="text-align:center; vertical-align:middle; width:173px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:114px" %) |(% style="text-align:center; vertical-align:middle; width:86px" %)0x0214|(% style="text-align:center; vertical-align:middle; width:94px" %)532|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
144 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-21__|(% style="text-align:center; vertical-align:middle; width:227px" %)Model tracking control gain|(% style="text-align:center; vertical-align:middle; width:173px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)20 to 20000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.1/s|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0215|(% style="text-align:center; vertical-align:middle; width:94px" %)533|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
145 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-22__|(% style="text-align:center; vertical-align:middle; width:227px" %)Model tracking control gain compensation|(% style="text-align:center; vertical-align:middle; width:173px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)500 to 2000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.10%|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0216|(% style="text-align:center; vertical-align:middle; width:94px" %)534|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
146 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-23__|(% style="text-align:center; vertical-align:middle; width:227px" %)Model tracking control forward rotation bias|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.10%|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0217|(% style="text-align:center; vertical-align:middle; width:94px" %)535|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
147 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-24__|(% style="text-align:center; vertical-align:middle; width:227px" %)Model tracking control reverses rotation bias|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.10%|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0218|(% style="text-align:center; vertical-align:middle; width:94px" %)536|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
148 +|=(% style="text-align: center; vertical-align: middle; width: 164px;" %)__P02-25__|(% style="text-align:center; vertical-align:middle; width:227px" %)Model tracking control|(% style="text-align:center; vertical-align:middle; width:173px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:219px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:168px" %)0 to 10000|(% style="text-align:center; vertical-align:middle; width:114px" %)0.10%|(% style="text-align:center; vertical-align:middle; width:86px" %)0x0219|(% style="text-align:center; vertical-align:middle; width:94px" %)537|(% style="text-align:center; vertical-align:middle; width:121px" %)16-bit
117 117  
118 -|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Name**|(% rowspan="2" %)**Setting method**|(% rowspan="2" %)**Effective time**|(% rowspan="2" %)**Default**|(% rowspan="2" %)**Range**|(% rowspan="2" %)**Unit**|(% colspan="2" %)**Modbus address**|(% rowspan="2" %)**Data type**
119 -|**Hexadecimal**|**Decimal**
120 -|P02-01|1st position loop gain|Operation setting|Effective immediately|232|0 to 6200|0.1Hz|0x0201|513|16-bit
121 -|P02-02|1st speed loop gain|Operation setting|Effective immediately|200|0 to 35000|0.1Hz|0x0202|514|16-bit
122 -|P02-03|1st speed loop integral time constant|Operation setting|Effective immediately|210|10 to 65535|0.1ms|0x0203|515|16-bit
123 -|P02-04|2nd position loop gain|Operation setting|Effective immediately|35|0 to 6200|0.1Hz|0x0204|516|16-bit
124 -|P02-05|2nd speed loop gain|Operation setting|Effective immediately|65|0 to 35000|0.1Hz|0x0205|517|16-bit
125 -|P02-06|2nd speed loop integral time constant|Operation setting|Effective immediately|1000|0 to 65535|0.1ms|0x0206|518|16-bit
126 -|P02-07|2nd gain switching mode|Operation setting|Effective immediately|1|0 to 1|-|0x0207|519|16-bit
127 -|P02-08|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10| |0x0208|520|16-bit
128 -|P02-09|Speed feedforward gain|Operation setting|Effective immediately|0|0 to 1000|0.1%|0x0209|521|16-bit
129 -|P02-10|Speed feedforward filter time constant|Operation setting|Effective immediately|50|0 to 10000|ms|0x020A|522|16-bit
130 -|P02-11|Torque feedforward gain|Operation setting|Effective immediately|0|0 to 2000|0.1%|0x020B|523|16-bit
131 -|P02-12|Torque feedforward filter time constant|Operation setting|Effective immediately|50|0 to 10000|0.01ms|0x020C|524|16-bit
132 -|P02-13|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|0.1ms|0x020D|525|16-bit
133 -|P02-14|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|According to the switching condition|0x020E|526|16-bit
134 -|P02-15|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|According to the switching condition|0x020F|527|16-bit
135 -|P02-16|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|0.1ms|0x0210|528|16-bit
136 -|P02-20|Enable model tracking control function|Shutdown setting|Effective immediately|0|0 to 1| |0x0214|532|16-bit
137 -|P02-21|Model tracking control gain|Shutdown setting|Effective immediately|1000|200 to 20000|0.1/s|0x0215|533|16-bit
138 -|P02-22|Model tracking control gain compensation|Shutdown setting|Effective immediately|1000|500 to 2000|0.10%|0x0216|534|16-bit
139 -|P02-23|Model tracking control forward rotation bias|Shutdown setting|Effective immediately|1000|0 to 10000|0.10%|0x0217|535|16-bit
140 -|P02-24|Model tracking control reverses rotation bias|Shutdown setting|Effective immediately|1000|0 to 10000|0.10%|0x0218|536|16-bit
141 -|P02-25|Model tracking control speed feedforward compensation|Shutdown setting|Effective immediately|1000|0 to 10000|0.10%|0x0219|537|16-bit
142 -|P02-26|Model 2 traces the control gain|Shutdown setting|Effective immediately|1000|200 to 20000|0.10/s|0x020A|538|16-bit
143 -|P02-27|Model 2 tracks the control gain compensation|Shutdown setting|Effective immediately|1000|500 to 2000|0.10%|0x020B|539|16-bit
144 -|P02-28|Model traces vibration suppression 1 frequency A|Shutdown setting|Effective immediately|500|10 to 2500|0.10Hz|0x020C|540|16-bit
145 -|P02-29|Model traces vibration suppression 1 frequency B|Shutdown setting|Effective immediately|700|10 to 2500|0.10Hz|0x020D|541|16-bit
146 -|P02-32|Friction compensation function enabled|Shutdown setting|Effective immediately|0|0 to 1|-|0x0210|544|16-bit
147 -|P02-33|Friction compensation gain|Operation setting|Effective immediately|100|10 to 1000|0.01|0x0211|545|16-bit
148 -|P02-34|2nd friction compensation gain|Operation setting|Effective immediately|100|10 to 1000|0.01|0x0212|546|16-bit
149 -|P02-35|Friction compensation factor|Operation setting|Effective immediately|0|0 to 100|0.01|0x0213|547|16-bit
150 -|P02-36|Friction compensation frequency correction|Operation setting|Effective immediately|0|-10000 to 10000|0.1Hz|0x0214|548|16-bit
151 -|P02-37|Friction compensation gain correction|Operation setting|Effective immediately|100|1 to 1000|0.01|0x0215|549|16-bit
152 -
153 153  == **Group P03 Self-adjustment parameters** ==
154 154  
155 155  |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 159px;" %)**Function code**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:240px" %)**Name**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:189px" %)**Setting method**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 210px;" %)**Effective time**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 108px;" %)**Default**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 157px;" %)**Range**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 118px;" %)**Unit**|=(% colspan="2" style="text-align: center; vertical-align: middle; width: 187px;" %)**Modbus address**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 130px;" %)**Data type**
... ... @@ -241,13 +241,13 @@
241 241  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-23__|(% style="text-align:center; vertical-align:middle; width:301px" %)DI_8 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 32|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0617|(% style="text-align:center; vertical-align:middle; width:106px" %)1559|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
242 242  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-24__|(% style="text-align:center; vertical-align:middle; width:301px" %)DI_8 channel logic selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Power-on again|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0618|(% style="text-align:center; vertical-align:middle; width:106px" %)1560|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
243 243  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-25__|(% style="text-align:center; vertical-align:middle; width:301px" %)DI_8 input source selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0619|(% style="text-align:center; vertical-align:middle; width:106px" %)1561|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
244 -|=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-26__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_1 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)132|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 149|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061A|(% style="text-align:center; vertical-align:middle; width:106px" %)1562|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
241 +|=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-26__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_1 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)132|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 148|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061A|(% style="text-align:center; vertical-align:middle; width:106px" %)1562|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
245 245  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-27__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_1 channel logic selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061B|(% style="text-align:center; vertical-align:middle; width:106px" %)1563|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
246 246  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-28__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_2 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)130|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 148|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061C|(% style="text-align:center; vertical-align:middle; width:106px" %)1564|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
247 247  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-29__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_2 channel logic selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061D|(% style="text-align:center; vertical-align:middle; width:106px" %)1565|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
248 -|=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-30__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_3 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)129|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 149|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061E|(% style="text-align:center; vertical-align:middle; width:106px" %)1566|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
245 +|=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-30__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_3 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)129|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 148|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061E|(% style="text-align:center; vertical-align:middle; width:106px" %)1566|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
249 249  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-31__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_3 channel logic selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x061F|(% style="text-align:center; vertical-align:middle; width:106px" %)1567|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
250 -|=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-32__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)134|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 149|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0620|(% style="text-align:center; vertical-align:middle; width:106px" %)1568|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
247 +|=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-32__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)134|(% style="text-align:center; vertical-align:middle; width:132px" %)128 to 148|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0620|(% style="text-align:center; vertical-align:middle; width:106px" %)1568|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
251 251  |=(% style="text-align: center; vertical-align: middle; width: 147px;" %)__P06-33__|(% style="text-align:center; vertical-align:middle; width:301px" %)DO_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:167px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:201px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:118px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:92px" %)-|(% style="text-align:center; vertical-align:middle" %)0x0621|(% style="text-align:center; vertical-align:middle; width:106px" %)1569|(% style="text-align:center; vertical-align:middle; width:107px" %)16-bit
252 252  
253 253  == **Group P07 multi-segment position** ==
... ... @@ -404,9 +404,6 @@
404 404  |=(% style="text-align: center; vertical-align: middle; width: 154px;" %)__P10-06__|(% style="text-align:center; vertical-align:middle; width:279px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:186px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:210px" %)Effective immediately|(% 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" %)0x0A06|(% style="text-align:center; vertical-align:middle; width:90px" %)2566|(% style="text-align:center; vertical-align:middle; width:123px" %)16-bit
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 -|(((
408 - ** __P10-09__**
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  
412 412  == **Group P12 Communication parameters** ==
... ... @@ -439,7 +439,6 @@
439 439  
440 440  == **DI/DO channel function definition** ==
441 441  
442 -(% style="margin-left:auto; margin-right:auto" %)
443 443  |=(% colspan="4" style="text-align: center; vertical-align: middle;" %)**DI channel function definition**
444 444  |(% style="text-align:center; vertical-align:middle; width:222px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:492px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:510px" %)**Content**
445 445  |(% style="text-align:center; vertical-align:middle; width:222px" %)0|(% style="text-align:center; vertical-align:middle; width:266px" %)~-~-|(% style="vertical-align:middle; width:492px" %)Off (not used)|(% style="vertical-align:middle; width:510px" %)-
... ... @@ -519,152 +519,92 @@
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|(((
523 -Invalid DI port logic : turn off return-to-origin mode;
524 524  
525 -Valid DI port logic : turn on the return mode.
526 -)))
527 -| 26| HOME_ORG|Origin signal|(((
528 -Invalid DI port logic : the origin signal is invalid;
529 -
530 -Valid DI port logic : the origin signal works.
531 -)))
532 -| 27| JOGU|DI forward jog|(((
533 -Invalid DI port logic : unable to turn forward;
534 -
535 -Valid DI port logic : forward turning is allowed.
536 -)))
537 -| 28| JOGD|DI reverse jog|(((
538 -Invalid DI port logic : cannot be turned in reverse;
539 -
540 -Valid DI port logic : reverse turns are allowed.
541 -)))
542 -
543 -(% style="margin-left:auto; margin-right:auto" %)
544 -|(% colspan="6" %)** DO channel function definition**
545 -|(% colspan="2" %)** Channel function code**|**Name**|**Function name**|**Content**|**Note**
546 -|(% colspan="2" %) 128|~-~-|OFF (not used)|-|-
547 -|(% colspan="2" %) 129|RDY|Servo is ready|(((
516 +(% style="width:1557px" %)
517 +|=(% colspan="5" style="text-align: center; vertical-align: middle; width: 1554px;" %)**DI channel function definition**
518 +|(% 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**
519 +|(% 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" %)-
520 +|(% 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" %)(((
548 548  Servo is ready, and could receive S-ON signal.
549 549  
550 -Invalid DO port logic: Servo is not ready
551 -
552 -Valid DO port logic: Servo is ready
553 -)))|-
554 -|(% colspan="2" %) 130|ALM|Fault signal|Valid when the fault is detected|-
555 -|(% colspan="2" %) 131|WARN|Warning signal|Valid when warning signals are output|-
556 -|(% colspan="2" %) 132|TGON|Rotation detection|(((
523 +1. Invalid DO port logic: Servo is not ready
524 +1. Valid DO port logic: Servo is ready
525 +)))
526 +|(% 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
527 +|(% 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
528 +|(% 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" %)(((
557 557  When the absolute value of servo motor speed is higher than P05-16 set value:
558 558  
559 -Invalid DO port logic:invalid motor rotation detection signal
560 -
561 -Valid DO port logic: valid motor rotation detection signal
562 -)))|-
563 -|(% colspan="2" %) 133|ZSP|Zero speed signal|(((
531 +* Invalid DO port logic: invalid motor rotation detection signal
532 +* Valid DO port logic: valid motor rotation detection signal
533 +)))
534 +|(% 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" %)(((
564 564  The signal output by the servo motor when it stops:
565 565  
566 -Invalid DO port logic:invalid motor zero-speed signal
567 -
568 -Valid DO port logic: valid motor zero-speed signal
569 -)))|-
570 -|(% colspan="2" %) 134|P-COIN|Positioning complete|Output this signal indicates that the servo drive positioning is complete|-
571 -|(% colspan="2" %) 135|P-NEAR|Positioning approach|Output this signal indicates that the servo drive positioning is approach|-
572 -|(% 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|-
573 -|(% colspan="2" %) 137|V-NEAR|Speed approach|(((
574 -Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
575 -
576 -Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
577 -)))|-
578 -|(% colspan="2" %) 138|T-COIN|Torque arrival|(((
579 -Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
580 -
581 -Valid DO port logic: The absolute value of torque instruction reaches the set value.
582 -)))|-
583 -|(% colspan="2" %) 139|T-LIMIT|Torque limit|(((
537 +* Invalid DO port logic: invalid motor zero-speed signal
538 +* Valid DO port logic: valid motor zero-speed signal
539 +)))
540 +|(% 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
541 +|(% 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
542 +|(% 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
543 +|(% 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" %)(((
544 +* Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
545 +* Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
546 +)))
547 +|(% 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" %)(((
548 +* Invalid DO port logic: The absolute value of torque instruction is smaller than the set value.
549 +* Valid DO port logic: The absolute value of torque instruction reaches the set value.
550 +)))
551 +|(% 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" %)(((
584 584  The confirmation signal of torque limit.
585 585  
586 -Invalid DO port logic: The torque of motor is not limited
587 -
588 -Valid DO port logic: The torque of motor is limited
589 -)))|-
590 -|(% colspan="2" %) 140|V-LIMIT|Speed limited|(((
554 +* Invalid DO port logic: The torque of motor is not limited
555 +* Valid DO port logic: The torque of motor is limited
556 +)))
557 +|(% 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" %)(((
591 591  The confirmation signal of speed limit in torque mode.
592 592  
593 -Invalid DO port logic: The motor speed is not limited
594 -
595 -Valid DO port logic: The motor speed is limited
596 -)))|-
597 -|(% colspan="2" %) 141|BRK-OFF|Brake output|(((
560 +* Invalid DO port logic: The motor speed is not limited
561 +* Valid DO port logic: The motor speed is limited
562 +)))
563 +|(% 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" %)(((
598 598  Output brake signal
599 599  
600 -Invalid DO port logic: The brake device does not operate
601 -
602 -Valid DO port logic: The brake device operates
603 -)))|Re-powering is required using this DO feature
604 -|(% colspan="2" %) 142|SRV-ST|Servo on state output|(((
605 -Invalid DO port logic: Servo motor is not operate
606 -
607 -Valid DO port logic: Servo motor is in operation
608 -)))|
609 -|143|(((
610 -VD2A 、
611 -
612 -VD2B
613 -)))|None|-|-|
614 -|143|VD2-0xxSA1H|OZ/OA/OB|Z/A/B pulse output-|(((
615 -DO2 set to 143 output Z pulse signal
616 -
617 -DO3 set to 143 output A pulse signal
618 -
619 -DO4 set to 143 output B pulse signal
620 -
621 -
622 -)))|(((
623 -Different DO ports output different pulse signals (see
624 -
625 -【6.2.6 Chapters 】Instructions)
566 +* Invalid DO port logic: The brake device does not operate
567 +* Valid DO port logic: The brake device operates
626 626  )))
627 -|143|VD2L|OZ/OA/OB|Z/A/B pulse output-|(((
628 -DO2 set to 143 output Z pulse signal
569 +|(% 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" %)(((
570 +* Invalid DO port logic: Servo motor is not operate
571 +* Valid DO port logic: Servo motor is in operation
572 +)))
573 +|(% rowspan="2" style="text-align:center; vertical-align:middle; width:126px" %)143|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
574 +VD2A
629 629  
630 -DO3 set to 143 output pulse signal
631 -
632 -DO4 set to 143 output direction signal
633 -
634 -
635 -)))|
636 -|143|VD2F|OZ|Z pulse outpu|Output is the signal to indicate that the servo drive rotates1 revalution|
637 -|(% colspan="2" %) 144|None|-|-|
638 -|(% colspan="2" %) 145|COM_VDO1|(((
576 +VD2B
577 +)))|(% 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" %)-
578 +|(% style="text-align:center; vertical-align:middle; width:119px" %)VD2F|(% style="text-align:center; vertical-align:middle; width:81px" %)OZ|(% style="text-align:center; vertical-align:middle; width:694px" %)Z pulse output|(% style="vertical-align:middle; width:682px" %)The output signal indicates that servo drive rotates 1 turn
579 +|(% 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" %)-
580 +|(% 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" %)(((
639 639  Communication
640 640  
641 641  VDO1 output
642 -)))|Use communication VDO|
643 -|(% colspan="2" %) 146|COM_VDO2|(((
584 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
585 +|(% 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" %)(((
644 644  Communication
645 645  
646 646  VDO2 output
647 -)))|Use communication VDO|
648 -|(% colspan="2" %) 147|COM_VDO3|(((
589 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
590 +|(% 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" %)(((
649 649  Communication
650 650  
651 651  VDO3 output
652 -)))|Use communication VDO|
653 -|(% colspan="2" %) 148|COM_VDO4|(((
594 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
595 +|(% 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" %)(((
654 654  Communication
655 655  
656 656  VDO4 output
657 -)))|Use communication VDO|
658 -|(% colspan="2" %) 149|HOME_ATTAIN| |(((
659 -Invalid DO port logic: origin regression is not compete
599 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
660 660  
661 -Valid DO port logic: origin regression is not compete
662 -)))|(((
663 -VD2-0xxSA1G
664 -
665 -V1.12 firmware support
666 -)))
667 -
668 668  == **Group U0 Monitoring parameters** ==
669 669  
670 670  |=(% 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**