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Changes for page 11 Appendix

Last modified by Theodore Xu on 2025/04/27 11:22
From version 70.2
edited by Karen
on 2023/05/17 11:58
Change comment: There is no comment for this version
To version 70.1
edited by Karen
on 2023/05/17 11:55
Change comment: There is no comment for this version

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... ... @@ -411,169 +411,169 @@
411 411  == **DI/DO channel function definition** ==
412 412  
413 413  |=(% colspan="4" style="text-align: center; vertical-align: middle;" %)**DI channel function definition**
414 -|(% 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**
415 -|(% 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" %)-
416 -|(% style="text-align:center; vertical-align:middle; width:222px" %)1|(% style="text-align:center; vertical-align:middle; width:266px" %)S-ON|(% style="vertical-align:middle; width:492px" %)Servo enable|(% style="vertical-align:middle; width:510px" %)(((
414 +|(% style="text-align:center; vertical-align:middle" %)**Number**|(% style="text-align:center; vertical-align:middle; width:141px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:363px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:488px" %)**Content**
415 +|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:141px" %)~-~-|(% style="vertical-align:middle; width:363px" %)Off (not used)|(% style="vertical-align:middle; width:488px" %)-
416 +|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle; width:141px" %)S-ON|(% style="vertical-align:middle; width:363px" %)Servo enable|(% style="vertical-align:middle; width:488px" %)(((
417 417  Invalid DI port logic: Servo motor enable prohibited
418 418  
419 419  Valid DI port logic: Servo motor is enabled
420 420  )))
421 -|(% style="text-align:center; vertical-align:middle; width:222px" %)2|(% style="text-align:center; vertical-align:middle; width:266px" %)A-CLR|(% style="vertical-align:middle; width:492px" %)Fault and warning clear|(% style="vertical-align:middle; width:510px" %)(((
421 +|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle; width:141px" %)A-CLR|(% style="vertical-align:middle; width:363px" %)Fault and warning clear|(% style="vertical-align:middle; width:488px" %)(((
422 422  Invalid DI port logic: No reset fault or warning
423 423  
424 424  Valid DI port logic: Reset fault or warning
425 425  )))
426 -|(% style="text-align:center; vertical-align:middle; width:222px" %)3|(% style="text-align:center; vertical-align:middle; width:266px" %)POT|(% style="vertical-align:middle; width:492px" %)Forward drive prohibition|(% style="vertical-align:middle; width:510px" %)(((
426 +|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle; width:141px" %)POT|(% style="vertical-align:middle; width:363px" %)Forward drive prohibition|(% style="vertical-align:middle; width:488px" %)(((
427 427  Invalid DI port logic: Forward drive allowed
428 428  
429 429  Valid DI port logic: Forward drive Prohibited
430 430  )))
431 -|(% style="text-align:center; vertical-align:middle; width:222px" %)4|(% style="text-align:center; vertical-align:middle; width:266px" %)NOT|(% style="vertical-align:middle; width:492px" %)Reverse drive prohibition|(% style="vertical-align:middle; width:510px" %)(((
431 +|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle; width:141px" %)NOT|(% style="vertical-align:middle; width:363px" %)Reverse drive prohibition|(% style="vertical-align:middle; width:488px" %)(((
432 432  Invalid DI port logic: Reverse drive allowed
433 433  
434 434  Valid DI port logic: Reverse drive Prohibited
435 435  )))
436 -|(% style="text-align:center; vertical-align:middle; width:222px" %)5|(% style="text-align:center; vertical-align:middle; width:266px" %)ZCLAMP|(% style="vertical-align:middle; width:492px" %)Zero-speed clamp|(% style="vertical-align:middle; width:510px" %)(((
436 +|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle; width:141px" %)ZCLAMP|(% style="vertical-align:middle; width:363px" %)Zero-speed clamp|(% style="vertical-align:middle; width:488px" %)(((
437 437  Invalid DI port logic: Zero-speed clamp prohibited
438 438  
439 439  Valid DI port logic: Zero-speed clamp enabled
440 440  )))
441 -|(% style="text-align:center; vertical-align:middle; width:222px" %)6|(% style="text-align:center; vertical-align:middle; width:266px" %)CL|(% style="vertical-align:middle; width:492px" %)Clear deviation counter|(% style="vertical-align:middle; width:510px" %)(((
441 +|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle; width:141px" %)CL|(% style="vertical-align:middle; width:363px" %)Clear deviation counter|(% style="vertical-align:middle; width:488px" %)(((
442 442  Invalid DI port logic: Position deviation is not clear
443 443  
444 444  Valid DI port logic: Position deviation is clear
445 445  )))
446 -|(% style="text-align:center; vertical-align:middle; width:222px" %)7|(% style="text-align:center; vertical-align:middle; width:266px" %)C-SIGN|(% style="vertical-align:middle; width:492px" %)Instruction is reversed|(% style="vertical-align:middle; width:510px" %)(((
446 +|(% style="text-align:center; vertical-align:middle" %)7|(% style="text-align:center; vertical-align:middle; width:141px" %)C-SIGN|(% style="vertical-align:middle; width:363px" %)Instruction is reversed|(% style="vertical-align:middle; width:488px" %)(((
447 447  Invalid DI port logic: default instruction direction
448 448  
449 449  Valid DI port logic: Reverse direction of instruction
450 450  )))
451 -|(% style="text-align:center; vertical-align:middle; width:222px" %)8|(% style="text-align:center; vertical-align:middle; width:266px" %)E-STOP|(% style="vertical-align:middle; width:492px" %)Emergency stop|(% style="vertical-align:middle; width:510px" %)(((
451 +|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle; width:141px" %)E-STOP|(% style="vertical-align:middle; width:363px" %)Emergency stop|(% style="vertical-align:middle; width:488px" %)(((
452 452  Invalid DI port logic: Position lock after zero speed stop
453 453  
454 454  Valid DI port logic: Current running status is not affected
455 455  )))
456 -|(% style="text-align:center; vertical-align:middle; width:222px" %)9|(% style="text-align:center; vertical-align:middle; width:266px" %)GEAR-SEL|(% style="vertical-align:middle; width:492px" %)Electronic Gear Switch 1|(% style="vertical-align:middle; width:510px" %)(((
456 +|(% style="text-align:center; vertical-align:middle" %)9|(% style="text-align:center; vertical-align:middle; width:141px" %)GEAR-SEL|(% style="vertical-align:middle; width:363px" %)Electronic Gear Switch 1|(% style="vertical-align:middle; width:488px" %)(((
457 457  Invalid DI port logic: electronic Gear Switch 1
458 458  
459 459  Valid DI port logic: electronic Gear Switch 2
460 460  )))
461 -|(% style="text-align:center; vertical-align:middle; width:222px" %)10|(% style="text-align:center; vertical-align:middle; width:266px" %)GAIN-SEL|(% style="vertical-align:middle; width:492px" %)Gain switch|(% style="vertical-align:middle; width:510px" %)-
462 -|(% style="text-align:center; vertical-align:middle; width:222px" %)11|(% style="text-align:center; vertical-align:middle; width:266px" %)INH|(% style="vertical-align:middle; width:492px" %)Instruction pulse input prohibited|(% style="vertical-align:middle; width:510px" %)(((
461 +|(% style="text-align:center; vertical-align:middle" %)10|(% style="text-align:center; vertical-align:middle; width:141px" %)GAIN-SEL|(% style="vertical-align:middle; width:363px" %)Gain switch|(% style="vertical-align:middle; width:488px" %)-
462 +|(% style="text-align:center; vertical-align:middle" %)11|(% style="text-align:center; vertical-align:middle; width:141px" %)INH|(% style="vertical-align:middle; width:363px" %)Instruction pulse input prohibited|(% style="vertical-align:middle; width:488px" %)(((
463 463  Invalid DI port logic: Instruction pulse input allowed
464 464  
465 465  Valid DI port logic: Instruction pulse input prohibited
466 466  )))
467 -|(% style="text-align:center; vertical-align:middle; width:222px" %)12|(% style="text-align:center; vertical-align:middle; width:266px" %)VSSEL|(% style="vertical-align:middle; width:492px" %)Vibration control input switching|(% style="vertical-align:middle; width:510px" %)-
468 -|(% style="text-align:center; vertical-align:middle; width:222px" %)13|(% style="text-align:center; vertical-align:middle; width:266px" %)INSPD1|(% style="vertical-align:middle; width:492px" %)Internal speed instruction selection 1|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment speed running segment number
469 -|(% style="text-align:center; vertical-align:middle; width:222px" %)14|(% style="text-align:center; vertical-align:middle; width:266px" %)INSPD2|(% style="vertical-align:middle; width:492px" %)Internal speed instruction selection 2|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment speed running segment number
470 -|(% style="text-align:center; vertical-align:middle; width:222px" %)15|(% style="text-align:center; vertical-align:middle; width:266px" %)INSPD3|(% style="vertical-align:middle; width:492px" %)Internal speed instruction selection 3|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment speed running segment number
471 -|(% style="text-align:center; vertical-align:middle; width:222px" %)16|(% style="text-align:center; vertical-align:middle; width:266px" %)J-SEL|(% style="vertical-align:middle; width:492px" %)(((
467 +|(% style="text-align:center; vertical-align:middle" %)12|(% style="text-align:center; vertical-align:middle; width:141px" %)VSSEL|(% style="vertical-align:middle; width:363px" %)Vibration control input switching|(% style="vertical-align:middle; width:488px" %)-
468 +|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle; width:141px" %)INSPD1|(% style="vertical-align:middle; width:363px" %)Internal speed instruction selection 1|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment speed running segment number
469 +|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle; width:141px" %)INSPD2|(% style="vertical-align:middle; width:363px" %)Internal speed instruction selection 2|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment speed running segment number
470 +|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle; width:141px" %)INSPD3|(% style="vertical-align:middle; width:363px" %)Internal speed instruction selection 3|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment speed running segment number
471 +|(% style="text-align:center; vertical-align:middle" %)16|(% style="text-align:center; vertical-align:middle; width:141px" %)J-SEL|(% style="vertical-align:middle; width:363px" %)(((
472 472  Inertia ratio switch
473 473  
474 474  (not implemented yet)
475 -)))|(% style="vertical-align:middle; width:510px" %)-
476 -|(% style="text-align:center; vertical-align:middle; width:222px" %)17|(% style="text-align:center; vertical-align:middle; width:266px" %)MixModeSel|(% style="vertical-align:middle; width:492px" %)MixModeSel Mix mode selection|(% style="vertical-align:middle; width:510px" %)(((
475 +)))|(% style="vertical-align:middle; width:488px" %)-
476 +|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle; width:141px" %)MixModeSel|(% style="vertical-align:middle; width:363px" %)MixModeSel Mix mode selection|(% style="vertical-align:middle; width:488px" %)(((
477 477  Invalid DI port logic: Current running is not affected
478 478  
479 479  Valid DI port logic: Servo motor is in mix control mode
480 480  )))
481 -|(% style="text-align:center; vertical-align:middle; width:222px" %)18|(% style="text-align:center; vertical-align:middle; width:266px" %)None|(% style="vertical-align:middle; width:492px" %)None|(% style="vertical-align:middle; width:510px" %)-
482 -|(% style="text-align:center; vertical-align:middle; width:222px" %)19|(% style="text-align:center; vertical-align:middle; width:266px" %)None|(% style="vertical-align:middle; width:492px" %)None|(% style="vertical-align:middle; width:510px" %)-
483 -|(% style="text-align:center; vertical-align:middle; width:222px" %)20|(% style="text-align:center; vertical-align:middle; width:266px" %)ENINPOS|(% style="vertical-align:middle; width:492px" %)Internal multi-segment enable signal|(% style="vertical-align:middle; width:510px" %)(((
481 +|(% style="text-align:center; vertical-align:middle" %)18|(% style="text-align:center; vertical-align:middle; width:141px" %)None|(% style="vertical-align:middle; width:363px" %)None|(% style="vertical-align:middle; width:488px" %)-
482 +|(% style="text-align:center; vertical-align:middle" %)19|(% style="text-align:center; vertical-align:middle; width:141px" %)None|(% style="vertical-align:middle; width:363px" %)None|(% style="vertical-align:middle; width:488px" %)-
483 +|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle; width:141px" %)ENINPOS|(% style="vertical-align:middle; width:363px" %)Internal multi-segment enable signal|(% style="vertical-align:middle; width:488px" %)(((
484 484  Invalid DI port logic: Current running is not affected
485 485  
486 486  Valid DI port logic: Servo motor runs multi-segment position
487 487  )))
488 -|(% style="text-align:center; vertical-align:middle; width:222px" %)21|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS1|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 1|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
489 -|(% 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
490 -|(% 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
491 -|(% 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
488 +|(% style="text-align:center; vertical-align:middle" %)21|(% style="text-align:center; vertical-align:middle; width:141px" %)INPOS1|(% style="vertical-align:middle; width:363px" %)Internal multi-segment position selection 1|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment position running segment number
489 +|(% style="text-align:center; vertical-align:middle" %)22|(% style="text-align:center; vertical-align:middle; width:141px" %)INPOS2|(% style="vertical-align:middle; width:363px" %)Internal multi-segment position selection 2|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment position running segment number
490 +|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle; width:141px" %)INPOS3|(% style="vertical-align:middle; width:363px" %)Internal multi-segment position selection 3|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment position running segment number
491 +|(% style="text-align:center; vertical-align:middle" %)24|(% style="text-align:center; vertical-align:middle; width:141px" %)INPOS4|(% style="vertical-align:middle; width:363px" %)Internal multi-segment position selection 4|(% style="vertical-align:middle; width:488px" %)Constitutes an internal multi-segment position running segment number
492 492  
493 -(% style="width:1882px" %)
494 -|=(% colspan="5" style="text-align: center; vertical-align: middle; width: 1879px;" %)**DO channel function definition**
495 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:84px" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:1470px" %)**Content**
496 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)128|(% style="text-align:center; vertical-align:middle; width:84px" %)~-~-|(% style="text-align:center; vertical-align:middle" %)OFF (not used)|(% style="vertical-align:middle; width:1470px" %)-
497 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)129|(% style="text-align:center; vertical-align:middle; width:84px" %)RDY|(% style="text-align:center; vertical-align:middle" %)Servo is ready|(% style="vertical-align:middle; width:1470px" %)(((
493 +(% style="width:1038px" %)
494 +|=(% colspan="5" style="text-align: center; vertical-align: middle; width: 1035px;" %)**DO channel function definition**
495 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:135px" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:709px" %)**Content**
496 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)128|(% style="text-align:center; vertical-align:middle; width:135px" %)~-~-|(% style="text-align:center; vertical-align:middle" %)OFF (not used)|(% style="vertical-align:middle; width:709px" %)-
497 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)129|(% style="text-align:center; vertical-align:middle; width:135px" %)RDY|(% style="text-align:center; vertical-align:middle" %)Servo is ready|(% style="vertical-align:middle; width:709px" %)(((
498 498  Servo is ready, and could receive S-ON signal.
499 499  
500 500  1. Invalid DO port logic: Servo is not ready
501 501  1. Valid DO port logic: Servo is ready
502 502  )))
503 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)130|(% style="text-align:center; vertical-align:middle; width:84px" %)ALM|(% style="text-align:center; vertical-align:middle" %)Fault signal|(% style="vertical-align:middle; width:1470px" %)Valid when the fault is detected
504 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)131|(% style="text-align:center; vertical-align:middle; width:84px" %)WARN|(% style="text-align:center; vertical-align:middle" %)Warning signal|(% style="vertical-align:middle; width:1470px" %)Valid when warning signals are output
505 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)132|(% style="text-align:center; vertical-align:middle; width:84px" %)TGON|(% style="text-align:center; vertical-align:middle" %)Rotation detection|(% style="vertical-align:middle; width:1470px" %)(((
503 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)130|(% style="text-align:center; vertical-align:middle; width:135px" %)ALM|(% style="text-align:center; vertical-align:middle" %)Fault signal|(% style="vertical-align:middle; width:709px" %)Valid when the fault is detected
504 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)131|(% style="text-align:center; vertical-align:middle; width:135px" %)WARN|(% style="text-align:center; vertical-align:middle" %)Warning signal|(% style="vertical-align:middle; width:709px" %)Valid when warning signals are output
505 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)132|(% style="text-align:center; vertical-align:middle; width:135px" %)TGON|(% style="text-align:center; vertical-align:middle" %)Rotation detection|(% style="vertical-align:middle; width:709px" %)(((
506 506  When the absolute value of servo motor speed is higher than P05-16 set value:
507 507  
508 508  * Invalid DO port logic:invalid motor rotation detection signal
509 509  * Valid DO port logic: valid motor rotation detection signal
510 510  )))
511 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)133|(% style="text-align:center; vertical-align:middle; width:84px" %)ZSP|(% style="text-align:center; vertical-align:middle" %)Zero speed signal|(% style="vertical-align:middle; width:1470px" %)(((
511 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)133|(% style="text-align:center; vertical-align:middle; width:135px" %)ZSP|(% style="text-align:center; vertical-align:middle" %)Zero speed signal|(% style="vertical-align:middle; width:709px" %)(((
512 512  The signal output by the servo motor when it stops:
513 513  
514 514  * Invalid DO port logic:invalid motor zero-speed signal
515 515  * Valid DO port logic: valid motor zero-speed signal
516 516  )))
517 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)134|(% style="text-align:center; vertical-align:middle; width:84px" %)P-COIN|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(% style="vertical-align:middle; width:1470px" %)Output this signal indicates that the servo drive positioning is complete
518 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)135|(% style="text-align:center; vertical-align:middle; width:84px" %)P-NEAR|(% style="text-align:center; vertical-align:middle" %)Positioning approach|(% style="vertical-align:middle; width:1470px" %)Output this signal indicates that the servo drive positioning is approach
519 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)136|(% style="text-align:center; vertical-align:middle; width:84px" %)V-COIN|(% style="text-align:center; vertical-align:middle" %)Consistent speed|(% style="vertical-align:middle; width:1470px" %)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
520 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)137|(% style="text-align:center; vertical-align:middle; width:84px" %)V-NEAR|(% style="text-align:center; vertical-align:middle" %)Speed approach|(% style="vertical-align:middle; width:1470px" %)(((
517 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)134|(% style="text-align:center; vertical-align:middle; width:135px" %)P-COIN|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(% style="vertical-align:middle; width:709px" %)Output this signal indicates that the servo drive positioning is complete
518 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)135|(% style="text-align:center; vertical-align:middle; width:135px" %)P-NEAR|(% style="text-align:center; vertical-align:middle" %)Positioning approach|(% style="vertical-align:middle; width:709px" %)Output this signal indicates that the servo drive positioning is approach
519 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)136|(% style="text-align:center; vertical-align:middle; width:135px" %)V-COIN|(% style="text-align:center; vertical-align:middle" %)Consistent speed|(% style="vertical-align:middle; width:709px" %)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
520 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)137|(% style="text-align:center; vertical-align:middle; width:135px" %)V-NEAR|(% style="text-align:center; vertical-align:middle" %)Speed approach|(% style="vertical-align:middle; width:709px" %)(((
521 521  * Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
522 522  * Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
523 523  )))
524 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)138|(% style="text-align:center; vertical-align:middle; width:84px" %)T-COIN|(% style="text-align:center; vertical-align:middle" %)Torque arrival|(% style="vertical-align:middle; width:1470px" %)(((
524 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)138|(% style="text-align:center; vertical-align:middle; width:135px" %)T-COIN|(% style="text-align:center; vertical-align:middle" %)Torque arrival|(% style="vertical-align:middle; width:709px" %)(((
525 525  * Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
526 526  * Valid DO port logic: The absolute value of torque instruction reaches the set value.
527 527  )))
528 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)139|(% style="text-align:center; vertical-align:middle; width:84px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle" %)Torque limit|(% style="vertical-align:middle; width:1470px" %)(((
528 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)139|(% style="text-align:center; vertical-align:middle; width:135px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle" %)Torque limit|(% style="vertical-align:middle; width:709px" %)(((
529 529  The confirmation signal of torque limit.
530 530  
531 531  * Invalid DO port logic: The torque of motor is not limited
532 532  * Valid DO port logic: The torque of motor is limited
533 533  )))
534 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)140|(% style="text-align:center; vertical-align:middle; width:84px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle" %)Speed limited|(% style="vertical-align:middle; width:1470px" %)(((
534 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)140|(% style="text-align:center; vertical-align:middle; width:135px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle" %)Speed limited|(% style="vertical-align:middle; width:709px" %)(((
535 535  The confirmation signal of speed limit in torque mode.
536 536  
537 537  * Invalid DO port logic: The motor speed is not limited
538 538  * Valid DO port logic: The motor speed is limited
539 539  )))
540 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)141|(% style="text-align:center; vertical-align:middle; width:84px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle" %)Brake output|(% style="vertical-align:middle; width:1470px" %)(((
540 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)141|(% style="text-align:center; vertical-align:middle; width:135px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle" %)Brake output|(% style="vertical-align:middle; width:709px" %)(((
541 541  Output brake signal
542 542  
543 543  * Invalid DO port logic: The brake device does not operate
544 544  * Valid DO port logic: The brake device operates
545 545  )))
546 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)142|(% style="text-align:center; vertical-align:middle; width:84px" %)SRV-ST|(% style="text-align:center; vertical-align:middle" %)Servo on state output|(% style="vertical-align:middle; width:1470px" %)(((
546 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)142|(% style="text-align:center; vertical-align:middle; width:135px" %)SRV-ST|(% style="text-align:center; vertical-align:middle" %)Servo on state output|(% style="vertical-align:middle; width:709px" %)(((
547 547  * Invalid DO port logic: Servo motor is not operate
548 548  * Valid DO port logic: Servo motor is in operation
549 549  )))
550 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
550 +|(% rowspan="2" style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle; width:27px" %)(((
551 551  VD2A
552 552  
553 553  VD2B
554 -)))|(% style="text-align:center; vertical-align:middle; width:84px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:1470px" %)-
555 -|(% style="text-align:center; vertical-align:middle; width:177px" %)VD2F|(% style="text-align:center; vertical-align:middle; width:84px" %)OZ|(% style="text-align:center; vertical-align:middle" %)Z pulse output|(% style="vertical-align:middle; width:1470px" %)The output signal indicates that servo drive rotates 1 turn
556 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)144|(% style="text-align:center; vertical-align:middle; width:84px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:1470px" %)-
557 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)145|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle" %)(((
554 +)))|(% style="text-align:center; vertical-align:middle; width:135px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:709px" %)-
555 +|(% style="text-align:center; vertical-align:middle; width:27px" %)VD2F|(% style="text-align:center; vertical-align:middle; width:135px" %)OZ|(% style="text-align:center; vertical-align:middle" %)Z pulse output|(% style="vertical-align:middle; width:709px" %)The output signal indicates that servo drive rotates 1 turn
556 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)144|(% style="text-align:center; vertical-align:middle; width:135px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:709px" %)-
557 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)145|(% style="text-align:center; vertical-align:middle; width:135px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle" %)(((
558 558  Communication
559 559  
560 560  VDO1 output
561 -)))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
562 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)146|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle" %)(((
561 +)))|(% style="vertical-align:middle; width:709px" %)Use communication VDO
562 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)146|(% style="text-align:center; vertical-align:middle; width:135px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle" %)(((
563 563  Communication
564 564  
565 565  VDO2 output
566 -)))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
567 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)147|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle" %)(((
566 +)))|(% style="vertical-align:middle; width:709px" %)Use communication VDO
567 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)147|(% style="text-align:center; vertical-align:middle; width:135px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle" %)(((
568 568  Communication
569 569  
570 570  VDO3 output
571 -)))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
572 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)148|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle" %)(((
571 +)))|(% style="vertical-align:middle; width:709px" %)Use communication VDO
572 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:67px" %)148|(% style="text-align:center; vertical-align:middle; width:135px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle" %)(((
573 573  Communication
574 574  
575 575  VDO4 output
576 -)))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
576 +)))|(% style="vertical-align:middle; width:709px" %)Use communication VDO
577 577  
578 578  == **Group U0 Monitoring parameters** ==
579 579