Changes for page 11 Appendix

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2	2
3	3	In order to facilitate your use, the VD2SA series provides monitoring display and setting display functions. The specification are as follows.
4	4
5		-(% style="margin-left:auto; margin-right:auto" %)
6		-|=**Number**|=**Parameter group name**|=**Parameter group**|=**Range**
7		-|=1|(% style="text-align:center" %)Basic settings|(% style="text-align:center" %)Group P00|(% style="text-align:center" %)P00-01 to P00-33
8		-|=2|(% style="text-align:center" %)Control parameters|(% style="text-align:center" %)Group P01|(% style="text-align:center" %)P01-01 to P01-44
9		-|=3|(% style="text-align:center" %)Gain adjustment|(% style="text-align:center" %)Group P02|(% style="text-align:center" %)P02-01 to P02-50
10		-|=4|(% style="text-align:center" %)Self-adjustment parameters|(% style="text-align:center" %)Group P03|(% style="text-align:center" %)P03-01 to P03-08
11		-|=5|(% style="text-align:center" %)Vibration suppression|(% style="text-align:center" %)Group P04|(% style="text-align:center" %)P04-01 to P04-23
12		-|=6|(% style="text-align:center" %)Signal input and output|(% style="text-align:center" %)Group P05|(% style="text-align:center" %)P05-01 to P05-21
13		-|=7|(% style="text-align:center" %)DI / DO configuration|(% style="text-align:center" %)Group P06|(% style="text-align:center" %)P06-02 to P06-33
14		-|=8|(% style="text-align:center" %)Multi-segment position|(% style="text-align:center" %)Group P07|(% style="text-align:center" %)P07-01 to P07-72
15		-|=9|(% style="text-align:center" %)Accessibility|(% style="text-align:center" %)Group P10|(% style="text-align:center" %)P10-01 to P10-11
16		-|=10|(% style="text-align:center" %)Communication parameters|(% style="text-align:center" %)Group P12|(% style="text-align:center" %)P12-01 to P12-06
17		-|=11|(% style="text-align:center" %)Communication input and output|(% style="text-align:center" %)Group P13|(% style="text-align:center" %)P13-01 to P13-14
18		-|=12|(% style="text-align:center" %)Universal|(% style="text-align:center" %)Group U0|(% style="text-align:center" %)U0-01 to U0-60
19		-|=13|(% style="text-align:center" %)Warning|(% style="text-align:center" %)Group U1|(% style="text-align:center" %)U1-01 to U1-25
20		-|=14|(% style="text-align:center" %)Device|(% style="text-align:center" %)Group U2|(% style="text-align:center" %)U2-01 to U2-16
	5	+|=(% style="text-align: center; vertical-align: middle;" %)**Number**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter group name**|=(% style="text-align: center; vertical-align: middle;" %)**Parameter group**|=(% style="text-align: center; vertical-align: middle;" %)**Range**
	6	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Basic settings|(% style="text-align:center; vertical-align:middle" %)Group P00|(% style="text-align:center; vertical-align:middle" %)P00-01 to P00-31
	7	+|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)Control parameters|(% style="text-align:center; vertical-align:middle" %)Group P01|(% style="text-align:center; vertical-align:middle" %)P01-01 to P01-38
	8	+|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)Gain adjustment|(% style="text-align:center; vertical-align:middle" %)Group P02|(% style="text-align:center; vertical-align:middle" %)P02-01 to P02-25
	9	+|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Self-adjustment parameters|(% style="text-align:center; vertical-align:middle" %)Group P03|(% style="text-align:center; vertical-align:middle" %)P03-01 to P03-08
	10	+|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Group P04|(% style="text-align:center; vertical-align:middle" %)P04-01 to P04-23
	11	+|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Signal input and output|(% style="text-align:center; vertical-align:middle" %)Group P05|(% style="text-align:center; vertical-align:middle" %)P05-01 to P05-21
	12	+|(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle" %)DI / DO configuration|(% style="text-align:center; vertical-align:middle" %)Group P06|(% style="text-align:center; vertical-align:middle" %)P06-02 to P06-33
	13	+|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)Multi-segment position|(% style="text-align:center; vertical-align:middle" %)Group P07|(% style="text-align:center; vertical-align:middle" %)P07-01 to P07-72
	14	+|(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle" %)Accessibility|(% style="text-align:center; vertical-align:middle" %)Group P10|(% style="text-align:center; vertical-align:middle" %)P10-01 to P10-11
	15	+|(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle" %)Communication parameters|(% style="text-align:center; vertical-align:middle" %)Group P12|(% style="text-align:center; vertical-align:middle" %)P12-01 to P12-06
	16	+|(% style="text-align:center; vertical-align:middle" %)11|(% style="text-align:center; vertical-align:middle" %)Communication input and output|(% style="text-align:center; vertical-align:middle" %)Group P13|(% style="text-align:center; vertical-align:middle" %)P13-01 to P13-14
	17	+|(% style="text-align:center; vertical-align:middle" %)12|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Group U0|(% style="text-align:center; vertical-align:middle" %)U0-01 to U0-56
	18	+|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)Warning|(% style="text-align:center; vertical-align:middle" %)Group U1|(% style="text-align:center; vertical-align:middle" %)U1-01 to U1-25
	19	+|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)Device|(% style="text-align:center; vertical-align:middle" %)Group U2|(% style="text-align:center; vertical-align:middle" %)U2-01 to U2-16
21	21
22	22	**Comments about the contents of the parameter table**
23	23
...	...	@@ -406,8 +406,7 @@
406	406	|=(% 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
407	407	|=(% 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
408	408	|(((
409		-*
410		-** __P10-09__
	408	+ ** __P10-09__**
411	411	)))|Personalised functional selection|Operation setting|Power-on again|0|0 to 65535|-|0x0A09|2569|16-bit
412	412	|=(% 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
413	413
...	...	@@ -521,155 +521,151 @@
521	521	|(% 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
522	522	|(% 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
523	523	|(% 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
524		-| 25| HOME_START|Origin regression initiated|(((
	522	+|25|HOME_START|Origin regression initiated|(((
525	525	Invalid DI port logic : turn off return-to-origin mode;
526	526
527	527	Valid DI port logic : turn on the return mode.
528	528	)))
529		-| 26| HOME_ORG|Origin signal|(((
	527	+|26|HOME_ORG|Origin signal|(((
530	530	Invalid DI port logic : the origin signal is invalid;
531	531
532	532	Valid DI port logic : the origin signal works.
533	533	)))
534		-| 27| JOGU|DI forward jog|(((
	532	+|27|JOGU|DI forward jog|(((
535	535	Invalid DI port logic : unable to turn forward;
536	536
537	537	Valid DI port logic : forward turning is allowed.
538	538	)))
539		-| 28| JOGD|DI reverse jog|(((
	537	+|28|JOGD|DI reverse jog|(((
540	540	Invalid DI port logic : cannot be turned in reverse;
541	541
542	542	Valid DI port logic : reverse turns are allowed.
543	543	)))
544	544
545		-(% style="margin-left:auto; margin-right:auto" %)
546		-|(% colspan="6" %)** DO channel function definition**
547		-|(% colspan="2" %)** Channel function code**|**Name**|**Function name**|**Content**|**Note**
548		-|(% colspan="2" %) 128|~-~-|OFF (not used)|-|-
549		-|(% colspan="2" %) 129|RDY|Servo is ready|(((
	543	+(% style="width:1557px" %)
	544	+|=(% colspan="6" style="text-align: center; vertical-align: middle; width: 1554px;" %)**DO channel function definition**
	545	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:81px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:694px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:682px" %)**Content**|(% style="text-align:center; vertical-align:middle; width:682px" %)Note
	546	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)128|(% style="text-align:center; vertical-align:middle; width:81px" %)~-~-|(% style="text-align:center; vertical-align:middle; width:694px" %)OFF (not used)|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:682px" %) |-
	547	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)129|(% style="text-align:center; vertical-align:middle; width:81px" %)RDY|(% style="text-align:center; vertical-align:middle; width:694px" %)Servo is ready|(% style="vertical-align:middle; width:682px" %)(((
550	550	Servo is ready, and could receive S-ON signal.
551	551
552		-Invalid DO port logic: Servo is not ready
553		-
554		-Valid DO port logic: Servo is ready
555		-)))|-
556		-|(% colspan="2" %) 130|ALM|Fault signal|Valid when the fault is detected|-
557		-|(% colspan="2" %) 131|WARN|Warning signal|Valid when warning signals are output|-
558		-|(% colspan="2" %) 132|TGON|Rotation detection|(((
	550	+1. Invalid DO port logic: Servo is not ready
	551	+1. Valid DO port logic: Servo is ready
	552	+)))|(% style="vertical-align:middle; width:682px" %) |-
	553	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)130|(% style="text-align:center; vertical-align:middle; width:81px" %)ALM|(% style="text-align:center; vertical-align:middle; width:694px" %)Fault signal|(% style="vertical-align:middle; width:682px" %)Valid when the fault is detected|(% style="vertical-align:middle; width:682px" %) |-
	554	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)131|(% style="text-align:center; vertical-align:middle; width:81px" %)WARN|(% style="text-align:center; vertical-align:middle; width:694px" %)Warning signal|(% style="vertical-align:middle; width:682px" %)Valid when warning signals are output|(% style="vertical-align:middle; width:682px" %) |-
	555	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)132|(% style="text-align:center; vertical-align:middle; width:81px" %)TGON|(% style="text-align:center; vertical-align:middle; width:694px" %)Rotation detection|(% style="vertical-align:middle; width:682px" %)(((
559	559	When the absolute value of servo motor speed is higher than P05-16 set value:
560	560
561		-Invalid DO port logic:invalid motor rotation detection signal
562		-
563		-Valid DO port logic: valid motor rotation detection signal
564		-)))|-
565		-|(% colspan="2" %) 133|ZSP|Zero speed signal|(((
	558	+* Invalid DO port logic: invalid motor rotation detection signal
	559	+* Valid DO port logic: valid motor rotation detection signal
	560	+)))|(% style="vertical-align:middle; width:682px" %) |-
	561	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)133|(% style="text-align:center; vertical-align:middle; width:81px" %)ZSP|(% style="text-align:center; vertical-align:middle; width:694px" %)Zero speed signal|(% style="vertical-align:middle; width:682px" %)(((
566	566	The signal output by the servo motor when it stops:
567	567
568		-Invalid DO port logic:invalid motor zero-speed signal
569		-
570		-Valid DO port logic: valid motor zero-speed signal
571		-)))|-
572		-|(% colspan="2" %) 134|P-COIN|Positioning complete|Output this signal indicates that the servo drive positioning is complete|-
573		-|(% colspan="2" %) 135|P-NEAR|Positioning approach|Output this signal indicates that the servo drive positioning is approach|-
574		-|(% colspan="2" %) 136|V-COIN|Consistent speed|In speed mode, when the absolute value of the difference between motor speed and speed instruction is less than the set value of P05-17, the signal is valid|-
575		-|(% colspan="2" %) 137|V-NEAR|Speed approach|(((
576		-Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
577		-
578		-Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
579		-)))|-
580		-|(% colspan="2" %) 138|T-COIN|Torque arrival|(((
581		-Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
582		-
583		-Valid DO port logic: The absolute value of torque instruction reaches the set value.
584		-)))|-
585		-|(% colspan="2" %) 139|T-LIMIT|Torque limit|(((
	564	+* Invalid DO port logic: invalid motor zero-speed signal
	565	+* Valid DO port logic: valid motor zero-speed signal
	566	+)))|(% style="vertical-align:middle; width:682px" %) |-
	567	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)134|(% style="text-align:center; vertical-align:middle; width:81px" %)P-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning complete|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is complete|(% style="vertical-align:middle; width:682px" %) |-
	568	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)135|(% style="text-align:center; vertical-align:middle; width:81px" %)P-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning approach|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is approach|(% style="vertical-align:middle; width:682px" %) |-
	569	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)136|(% style="text-align:center; vertical-align:middle; width:81px" %)V-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Consistent speed|(% style="vertical-align:middle; width:682px" %)In speed mode, when the absolute value of the difference between motor speed and speed instruction is less than the set value of P05-17, the signal is valid|(% style="vertical-align:middle; width:682px" %) |-
	570	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)137|(% style="text-align:center; vertical-align:middle; width:81px" %)V-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Speed approach|(% style="vertical-align:middle; width:682px" %)(((
	571	+* Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
	572	+* Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
	573	+)))|(% style="vertical-align:middle; width:682px" %) |-
	574	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)138|(% style="text-align:center; vertical-align:middle; width:81px" %)T-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Torque arrival|(% style="vertical-align:middle; width:682px" %)(((
	575	+* Invalid DO port logic: The absolute value of torque instruction is smaller than the set value.
	576	+* Valid DO port logic: The absolute value of torque instruction reaches the set value.
	577	+)))|(% style="vertical-align:middle; width:682px" %) |-
	578	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)139|(% style="text-align:center; vertical-align:middle; width:81px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle; width:694px" %)Torque limit|(% style="vertical-align:middle; width:682px" %)(((
586	586	The confirmation signal of torque limit.
587	587
588		-Invalid DO port logic: The torque of motor is not limited
589		-
590		-Valid DO port logic: The torque of motor is limited
591		-)))|-
592		-|(% colspan="2" %) 140|V-LIMIT|Speed limited|(((
	581	+* Invalid DO port logic: The torque of motor is not limited
	582	+* Valid DO port logic: The torque of motor is limited
	583	+)))|(% style="vertical-align:middle; width:682px" %) |-
	584	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)140|(% style="text-align:center; vertical-align:middle; width:81px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle; width:694px" %)Speed limited|(% style="vertical-align:middle; width:682px" %)(((
593	593	The confirmation signal of speed limit in torque mode.
594	594
595		-Invalid DO port logic: The motor speed is not limited
596		-
597		-Valid DO port logic: The motor speed is limited
598		-)))|-
599		-|(% colspan="2" %) 141|BRK-OFF|Brake output|(((
	587	+* Invalid DO port logic: The motor speed is not limited
	588	+* Valid DO port logic: The motor speed is limited
	589	+)))|(% style="vertical-align:middle; width:682px" %) |-
	590	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)141|(% style="text-align:center; vertical-align:middle; width:81px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle; width:694px" %)Brake output|(% style="vertical-align:middle; width:682px" %)(((
600	600	Output brake signal
601	601
602		-Invalid DO port logic: The brake device does not operate
	593	+* Invalid DO port logic: The brake device does not operate
	594	+* Valid DO port logic: The brake device operates
	595	+)))|(% style="vertical-align:middle; width:682px" %) |Re-powering is required using this DO feature
	596	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)142|(% style="text-align:center; vertical-align:middle; width:81px" %)SRV-ST|(% style="text-align:center; vertical-align:middle; width:694px" %)Servo on state output|(% style="vertical-align:middle; width:682px" %)(((
	597	+* Invalid DO port logic: Servo motor is not operate
	598	+* Valid DO port logic: Servo motor is in operation
	599	+)))|(% style="vertical-align:middle; width:682px" %) |
	600	+|(% colspan="1" rowspan="4" style="text-align:center; vertical-align:middle; width:126px" %)143|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
	601	+VD2A
603	603
604		-Valid DO port logic: The brake device operates
605		-)))|Re-powering is required using this DO feature
606		-|(% colspan="2" %) 142|SRV-ST|Servo on state output|(((
607		-Invalid DO port logic: Servo motor is not operate
608		-
609		-Valid DO port logic: Servo motor is in operation
610		-)))|
611		-|143|(((
612		-VD2A 、
613		-
614	614	VD2B
615		-)))|None|-|-|
616		-|143|VD2-0xxSA1H|OZ/OA/OB|Z/A/B pulse output-|(((
	604	+)))|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|
	605	+|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
	606	+VD2-0xxSA1H
	607	+)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
	608	+OZ/OA/OB
	609	+)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
617	617	DO2 set to 143 output Z pulse signal
618	618
619	619	DO3 set to 143 output A pulse signal
620	620
621	621	DO4 set to 143 output B pulse signal
622		-
623		-
624		-)))|(((
625		-Different DO ports output different pulse signals (see
626		-
627		-【6.2.6 Chapters 】Instructions)
	615	+)))|(% style="vertical-align:middle; width:682px" %) |(((
	616	+-
628	628	)))
629		-|143|VD2L|OZ/OA/OB|Z/A/B pulse output-|(((
	618	+|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
	619	+VD2L
	620	+)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
	621	+OZ/OA/OB
	622	+)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
630	630	DO2 set to 143 output Z pulse signal
631	631
632	632	DO3 set to 143 output pulse signal
633	633
634	634	DO4 set to 143 output direction signal
635		-
636		-
637		-)))|
638		-|143|VD2F|OZ|Z pulse outpu|Output is the signal to indicate that the servo drive rotates1 revalution|
639		-|(% colspan="2" %) 144|None|-|-|
640		-|(% colspan="2" %) 145|COM_VDO1|(((
	628	+)))|(% style="vertical-align:middle; width:682px" %)
	629	+|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
	630	+VD2F
	631	+)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
	632	+OZ
	633	+)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z pulse output|(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
	634	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)144|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:682px" %) |-
	635	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)145|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
641	641	Communication
642	642
643	643	VDO1 output
644		-)))|Use communication VDO|
645		-|(% colspan="2" %) 146|COM_VDO2|(((
	639	+)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %) |(% colspan="1" rowspan="7" %)(((
	640	+VD2-0xxSA1G
	641	+
	642	+V1.12 firmware support
	643	+)))
	644	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)146|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
646	646	Communication
647	647
648	648	VDO2 output
649		-)))|Use communication VDO|
650		-|(% colspan="2" %) 147|COM_VDO3|(((
	648	+)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
	649	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)147|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
651	651	Communication
652	652
653	653	VDO3 output
654		-)))|Use communication VDO|
655		-|(% colspan="2" %) 148|COM_VDO4|(((
	653	+)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
	654	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)148|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
656	656	Communication
657	657
658	658	VDO4 output
659		-)))|Use communication VDO|
660		-|(% colspan="2" %) 149|HOME_ATTAIN| |(((
661		-Invalid DO port logic: origin regression is not compete
	658	+)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
	659	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)149|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
	660	+HOME_ATTAIN
	661	+)))|(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
	662	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %) |(% style="text-align:center; vertical-align:middle; width:81px" %) |(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
	663	+|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %) |(% style="text-align:center; vertical-align:middle; width:81px" %) |(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
662	662
663		-Valid DO port logic: origin regression is not compete
664		-)))|(((
665		-VD2-0xxSA1G
666		-
667		-V1.12 firmware support
668		-)))
669		-
670	670	== **Group U0 Monitoring parameters** ==
671	671
672		-(% style="margin-left:auto; margin-right:auto" %)
673	673	|=(% 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**
674	674	|=(% style="text-align: center; vertical-align: middle;" %)**Hexadecimal**|=(% style="text-align:center; vertical-align:middle" %)**Decimal**
675	675	|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-01__|(% style="text-align:center; vertical-align:middle; width:223px" %)Servo Status|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)0x1E01|(% style="text-align:center; vertical-align:middle" %)7681|(% style="text-align:center; vertical-align:middle" %)16-bit
...	...	@@ -750,10 +750,6 @@
750	750	|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-54__|(% style="text-align:center; vertical-align:middle; width:223px" %)Absolute encoder position in 1 circle|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)0x1E3D|(% style="text-align:center; vertical-align:middle" %)7741|(% style="text-align:center; vertical-align:middle" %)32-bit
751	751	|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-55__|(% style="text-align:center; vertical-align:middle; width:223px" %)Circle numbers of multi-turn absolute encoder|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Circle|(% style="text-align:center; vertical-align:middle" %)0x1E3F|(% style="text-align:center; vertical-align:middle" %)7743|(% style="text-align:center; vertical-align:middle" %)16-bit
752	752	|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)__U0-56__|(% style="text-align:center; vertical-align:middle; width:223px" %)Current position of multi-turn absolute encoder|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)0x1E41|(% style="text-align:center; vertical-align:middle" %)7745|(% style="text-align:center; vertical-align:middle" %)32-bit
753		-|** __U0-57__**| Reserved|Universal|-| 0x1E42| 7746|-
754		-|** __U0-58__**| Reserved|Universal|-| 0x1E43| 7747|-
755		-|** __U0-59__**|Bud voltage history maximum|Universal|V| 0x1E44| 7748| 16-bit
756		-|** __U0-60__**|Average power history maximum|Universal|W| 0x1E45| 7749| 16-bit
757	757
758	758	== **Group U1 Warning monitoring** ==
759	759
...	...	@@ -809,58 +809,57 @@
809	809
810	810	= **List of codes** =
811	811
812		-(% style="margin-left:auto; margin-right:auto" %)
813		-|=**Code**|=**Content**|=**Clearable**|=**Stop immediately**
814		-|=Er.01|(% style="text-align:center" %)Parameter damage|(% style="text-align:center" %) |(% style="text-align:center" %) O
815		-|=Er.02|(% style="text-align:center" %)Parameter storage error|(% style="text-align:center" %) |(% style="text-align:center" %)O
816		-|=Er.03|(% style="text-align:center" %)ADC reference source error|(% style="text-align:center" %) |(% style="text-align:center" %)O
817		-|=Er.04|(% style="text-align:center" %)AD current sampling conversion error|(% style="text-align:center" %) |(% style="text-align:center" %)O
818		-|=Er.05|(% style="text-align:center" %)FPGA communication exception|(% style="text-align:center" %) |(% style="text-align:center" %)O
819		-|=Er.06|(% style="text-align:center" %)FPGA incorrect program version|(% style="text-align:center" %) |(% style="text-align:center" %)O
820		-|=Er.07|(% style="text-align:center" %)Clock exception|(% style="text-align:center" %) |(% style="text-align:center" %)O
821		-|=Er.20|(% style="text-align:center" %)Software overcurrent|(% style="text-align:center" %) |(% style="text-align:center" %)O
822		-|=Er.20|(% style="text-align:center" %)Overcurrent|(% style="text-align:center" %) |(% style="text-align:center" %)O
823		-|=Er.21|(% style="text-align:center" %)Main power supply is undervoltage|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
824		-|=Er.22|(% style="text-align:center" %)Main power supply is overvoltage|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
825		-|=Er.23|(% style="text-align:center" %)Braking resistor is not connected|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
826		-|=Er.24|(% style="text-align:center" %)Braking resistor is abnormal|(% style="text-align:center" %) |(% style="text-align:center" %)O
827		-|=Er.25|(% style="text-align:center" %)Braking resistor resistance is too large|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
828		-|=Er.26|(% style="text-align:center" %)Wrong motor model|(% style="text-align:center" %) |(% style="text-align:center" %)O
829		-|=Er.27|(% style="text-align:center" %)Encoder is disconnected|(% style="text-align:center" %) |(% style="text-align:center" %)O
830		-|=Er.28|(% style="text-align:center" %)Encoder Z pulse is lost|(% style="text-align:center" %) |(% style="text-align:center" %)O
831		-|=Er.30|(% style="text-align:center" %)Encoder UVW signal error|(% style="text-align:center" %) |(% style="text-align:center" %)O
832		-|=Er.31|(% style="text-align:center" %)The power cable is disconnected|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
833		-|=Er.32|(% style="text-align:center" %)Exceeding the maximum speed of motor|(% style="text-align:center" %) |(% style="text-align:center" %)O
834		-|=Er.33|(% style="text-align:center" %)The power module is over temperature|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
835		-|=Er.34|(% style="text-align:center" %)Motor overload protection|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
836		-|=Er.35|(% style="text-align:center" %)Electronic gear ratio exceeds the limit|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
837		-|=Er.36|(% style="text-align:center" %)Position deviation is too large|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
838		-|=Er.37|(% style="text-align:center" %)Torque saturation is abnormal|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
839		-|=Er.38|(% style="text-align:center" %)The main circuit is electrically deficient|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
840		-|=Er.39|(% style="text-align:center" %)Emergency stop|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
841		-|=Er.40|(% style="text-align:center" %)Encoder battery failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
842		-|=Er.41|(% style="text-align:center" %)Motor (encoder) over temperature|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
843		-|=Er.42|(% style="text-align:center" %)Encoder write failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
844		-|=Er.43|(% style="text-align:center" %)Driver overload failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
845		-|=Er.44|(% style="text-align:center" %)Return to origin timeout failure|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
846		-|=Er.45|(% style="text-align:center" %)Drive plug over temperature protection|(% style="text-align:center" %)✔|(% style="text-align:center" %)O
847		-|=Er.60|(% style="text-align:center" %)ADC conversion is incomplete|(% style="text-align:center" %) |(% style="text-align:center" %)O
848		-|=Er.61|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
849		-|=Er.62|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
850		-|=Er.63|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
851		-|=Er.64|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
852		-|=Er.65|(% style="text-align:center" %)Internal software fault|(% style="text-align:center" %) |(% style="text-align:center" %)O
853		-|=A-81|(% style="text-align:center" %)Over speed alarm|(% style="text-align:center" %) |(% style="text-align:center" %)
854		-|=A-82|(% style="text-align:center" %)Overload|(% style="text-align:center" %)✔|(% style="text-align:center" %)
855		-|=A-83|(% style="text-align:center" %)Braking resistor is over temperature or overload|(% style="text-align:center" %)✔|(% style="text-align:center" %)
856		-|=A-84|(% style="text-align:center" %)Parameter modification that needs to be powered on again|(% style="text-align:center" %)✔|(% style="text-align:center" %)
857		-|=A-86|(% style="text-align:center" %)Input pulse frequency is too high|(% style="text-align:center" %)✔|(% style="text-align:center" %)
858		-|=A-88|(% style="text-align:center" %)Main circuit momentary is power off|(% style="text-align:center" %)✔|(% style="text-align:center" %)
859		-|=A-89|(% style="text-align:center" %)DI port configuration is duplicate|(% style="text-align:center" %)✔|(% style="text-align:center" %)
860		-|=A-90|(% style="text-align:center" %)DO port configuration is duplicate|(% style="text-align:center" %)✔|(% style="text-align:center" %)
861		-|=A-91|(% style="text-align:center" %)Parameter modification is too frequent|(% style="text-align:center" %)✔|(% style="text-align:center" %)
862		-|=A-92|(% style="text-align:center" %)low encoder battery voltage warning|(% style="text-align:center" %)✔|(% style="text-align:center" %)
863		-|=A-93|(% style="text-align:center" %)Encoder read and write check abnormal and frequency is too high|(% style="text-align:center" %)✔|(% style="text-align:center" %)
	802	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 138px;" %)**Code**|=(% style="text-align: center; vertical-align: middle; width: 631px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)**Clearable**|=(% style="text-align: center; vertical-align: middle; width: 180px;" %)**Stop immediately**
	803	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.01|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter damage|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	804	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.02|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter storage error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	805	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.03|(% style="text-align:center; vertical-align:middle; width:631px" %)ADC reference source error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	806	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.04|(% style="text-align:center; vertical-align:middle; width:631px" %)AD current sampling conversion error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	807	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.05|(% style="text-align:center; vertical-align:middle; width:631px" %)FPGA communication exception|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	808	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.06|(% style="text-align:center; vertical-align:middle; width:631px" %)FPGA incorrect program version|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	809	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.07|(% style="text-align:center; vertical-align:middle; width:631px" %)Clock exception|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	810	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.20|(% style="text-align:center; vertical-align:middle; width:631px" %)Overcurrent|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	811	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.21|(% style="text-align:center; vertical-align:middle; width:631px" %)Main power supply is undervoltage|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	812	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.22|(% style="text-align:center; vertical-align:middle; width:631px" %)Main power supply is overvoltage|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	813	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.23|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor is not connected|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	814	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.24|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor is abnormal|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	815	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.25|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor resistance is too large|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	816	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.26|(% style="text-align:center; vertical-align:middle; width:631px" %)Wrong motor model|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	817	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.27|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder is disconnected|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	818	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.28|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder Z pulse is lost|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	819	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.29|(% style="text-align:center; vertical-align:middle; width:631px" %)(((
	820	+The incremental encoder AB count does not equal to the number of encoder lines multiply by 4
	821	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	822	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.30|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder UVW signal error|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	823	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.31|(% style="text-align:center; vertical-align:middle; width:631px" %)The power line is disconnected|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	824	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.32|(% style="text-align:center; vertical-align:middle; width:631px" %)Exceeding the maximum speed of motor|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	825	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.33|(% style="text-align:center; vertical-align:middle; width:631px" %)The power module is over temperature|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	826	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.34|(% style="text-align:center; vertical-align:middle; width:631px" %)Motor overload protection|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	827	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.35|(% style="text-align:center; vertical-align:middle; width:631px" %)Electronic gear ratio exceeds the limit|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	828	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.36|(% style="text-align:center; vertical-align:middle; width:631px" %)Position deviation is too large|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	829	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.37|(% style="text-align:center; vertical-align:middle; width:631px" %)Torque saturation is abnormal|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	830	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.38|(% style="text-align:center; vertical-align:middle; width:631px" %)The main circuit is electrically deficient|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	831	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.39|(% style="text-align:center; vertical-align:middle; width:631px" %)Emergency stop|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	832	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.40|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder battery failure|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	833	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.41|(% style="text-align:center; vertical-align:middle; width:631px" %)Motor (encoder) over temperature|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	834	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.42|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder write failure|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	835	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.60|(% style="text-align:center; vertical-align:middle; width:631px" %)ADC conversion is incomplete|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	836	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.61|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	837	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.62|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	838	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.63|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	839	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.64|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	840	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)Er.65|(% style="text-align:center; vertical-align:middle; width:631px" %)Internal software fault|(% style="text-align:center; vertical-align:middle; width:127px" %) |(% style="text-align:center; vertical-align:middle; width:180px" %)✔
	841	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-81|(% style="text-align:center; vertical-align:middle; width:631px" %)Over speed alarm|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	842	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-82|(% style="text-align:center; vertical-align:middle; width:631px" %)Overload|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	843	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-83|(% style="text-align:center; vertical-align:middle; width:631px" %)Braking resistor is over temperature or overload|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	844	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-84|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter modification that needs to be powered on again|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	845	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-85|(% style="text-align:center; vertical-align:middle; width:631px" %)Receive position pulse when servo is OFF|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	846	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-86|(% style="text-align:center; vertical-align:middle; width:631px" %)Input pulse frequency is too high|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	847	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-88|(% style="text-align:center; vertical-align:middle; width:631px" %)Main circuit momentary is power off|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	848	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-89|(% style="text-align:center; vertical-align:middle; width:631px" %)DI port configuration is duplicate|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	849	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-90|(% style="text-align:center; vertical-align:middle; width:631px" %)DO port configuration is duplicate|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	850	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-91|(% style="text-align:center; vertical-align:middle; width:631px" %)Parameter modification is too frequent|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	851	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-92|(% style="text-align:center; vertical-align:middle; width:631px" %)low encoder battery voltage warning|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
	852	+|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)A-93|(% style="text-align:center; vertical-align:middle; width:631px" %)Encoder read and write check abnormal and frequency is too high|(% style="text-align:center; vertical-align:middle; width:127px" %)✔|(% style="text-align:center; vertical-align:middle; width:180px" %)
864	864
865	865	Clearable: The panel can be stopped displaying the status by giving a "clear signal"
866	866