11 Appendix

Version 109.1 by Theodore Xu on 2025/04/27 10:38

Lists of parameters

In order to facilitate your use, the VD2SA series provides monitoring display and setting display functions. The specification are as follows.

Number	Parameter group name	Parameter group	Range
1	Basic settings	Group P00	P00-01 to P00-31
2	Control parameters	Group P01	P01-01 to P01-38
3	Gain adjustment	Group P02	P02-01 to P02-25
4	Self-adjustment parameters	Group P03	P03-01 to P03-08
5	Vibration suppression	Group P04	P04-01 to P04-23
6	Signal input and output	Group P05	P05-01 to P05-21
7	DI / DO configuration	Group P06	P06-02 to P06-33
8	Multi-segment position	Group P07	P07-01 to P07-72
9	Accessibility	Group P10	P10-01 to P10-11
10	Communication parameters	Group P12	P12-01 to P12-06
11	Communication input and output	Group P13	P13-01 to P13-14
12	Universal	Group U0	U0-01 to U0-56
13	Warning	Group U1	U1-01 to U1-25
14	Device	Group U2	U2-01 to U2-16

Comments about the contents of the parameter table

Parameter name

If a parameter name is “reserved”, it is occupied by system. Please do not configure the parameter.
If a parameter name is “not supported”, in means that the model does not support the parameter. For the difference of servo drive parameters of different models, please refer to the parameter table.

Parameter unit

If a parameter unit is “-”, it has no unit.

The time when the modification takes effect

Some of parameters need to be power on again to take effect. Please refer to the parameter table.

The following parameter table is described in terms of VD2-014SA1G model V1.20 firmware version. Some of the parameters are different from the old version.

Group P00 Basic settings

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P00-01	Control mode	Shutdown setting	Effective immediately	1	1 to 6	-	0x0001	1	16-bit
P00-04	Rotation direction	Shutdown setting	Effective immediately	0	0 to 1	-	0x0004	4	16-bit
P00-05	Servo OFF shutdown mode	Shutdown setting	Effective immediately	0	0 to 1	-	0x0005	5	16-bit
P00-09	Braking resistance setting	Operation setting	Effective immediately	0	0 to 3	-	0x0009	9	16-bit
P00-10	External braking resistor resistance	Operation setting	Effective immediately	50	0 to 65535	Ω	0x000A	10	16-bit
P00-11	External braking resistor power	Operation setting	Effective immediately	100	0 to 65535	W	0x000B	11	16-bit
P00-12	Position pulse type selection	Operation setting	Power-on again	0	0 to 5	-	0x000C	12	16-bit
P00-13	Maximum position pulse frequency	Shutdown setting	Effective immediately	300	1 to 500	kHz	0x000D	13	16-bit
P00-14	Position pulse anti-interference grade	Operation setting	Power-on again	2	0 to 9	-	0x000E	14	16-bit
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
P00-17	Electronic gear 1 numerator	Operation setting	Effective immediately	1	1 to 4294967294	-	0x0012	18	32-bit
P00-18	Electronic gear 1 denominator	Operation setting	Effective immediately	1	1 to 4294967294	-	0x0014	20	32-bit
P00-19	Electronic Gear 2 nominator	Operation setting	Effective immediately	1	1 to 4294967294	-	0x0016	22	32-bit
P00-20	Electronic gear 2 denominator	Operation setting	Effective immediately	1	1 to 4294967294	-	0x0018	24	32-bit
P00-21	Pulse frequency division output direction	Operation setting	Power-on again	0	0 to 1	-	0x001A	26	16-bit
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
P00-23	Z pulse output OZ polarity	Operation setting	Power-on again	0	0 to 1	-	0x001C	28	16-bit
P00-24	Z pulse output	Operation setting	Power-on again	3	0 to 200	ms	0x001D	29	16-bit
P00-25	Position deviation limit	Shutdown setting	Effective immediately	60000	0 to 2147483646	Equivalent pulse unit	0x001E	30	32-bit
P00-27	Pulse output frequency division numerator	Operation setting	Power-on again	1	1 to 2500	-	0x0021	33	16-bit
P00-28	Pulse output frequency division denominator	Operation setting	Power-on again	1	1 to 2500	-	0x0022	34	16-bit
P00-29	Number of equivalent position unit in a circle	Shutdown setting	Effective immediately	10000	0 to 131072	-	0x0023	35	32-bit
P00-30	Shield multi-turn absolute encoder battery fault	Operation setting	Power-on again	0	0 to 3		0x0025	37	16-bit
P00-31	Encoder read-write verification exception threshold setting	Operation setting	Effective immediately	20	0 to 100	-	0x0026	38	16-bit

Group P01 Control parameter

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P01-01	Speed instruction source	Shutdown setting	Effective immediately	0	0 to 1	-	0x0101	257	16-bit
P01-02	Internal speed instruction 0	Operation setting	Effective immediately	0	-5000 to 5000	rpm	0x0102	258	16-bit
P01-03	Acceleration time	Operation setting	Effective immediately	50	0 to 65535	ms	0x0103	259	16-bit
P01-04	Deceleration time	Operation setting	Effective immediately	50	0 to 65535	ms	0x0104	260	16-bit
P01-05	Shutdown deceleration time	Shutdown setting	Effective immediately	50	0 to 65535	ms	0x0105	261	16-bit
P01-06	Position instruction source	Operation setting	Effective immediately	0	0 to 1	-	0x0106	262	16-bit
P01-07	Torque instruction source	Shutdown setting	Effective immediately	0	0 to 1	-	0x0107	263	16-bit
P01-08	Torque instruction keyboard setting value	Operation setting	Effective immediately	0	-3000 to 3000	0.1%	0x0108	264	16-bit
P01-09	Source of speed limit in torque mode	Shutdown setting	Effective immediately	0	0 to 1	-	0x0109	265	16-bit
P01-10	Maximum speed threshold	Operation setting	Effective immediately	3600	0 to 5000	rpm	0x010A	266	16-bit
P01-11	Warning speed threshold	Operation setting	Effective immediately	3300	0 to 5000	rpm	0x010B	267	16-bit
P01-12	Forward speed threshold	Operation setting	Effective immediately	3000	0 to 5000	rpm	0x010C	268	16-bit
P01-13	Reverse speed threshold	Operation setting	Effective immediately	3000	0 to 5000	rpm	0x010D	269	16-bit
P01-14	Torque limit source	Shutdown setting	Effective immediately	0	0 to 1	-	0x010E	270	16-bit
P01-15	Forward torque limit	Operation setting	Effective immediately	3000	0 to 3000	0.1%	0x010F	271	16-bit
P01-16	Reverse torque limit	Operation setting	Effective immediately	3000	0 to 3000	0.1%	0x0110	272	16-bit
P01-17	Forward speed limit in torque mode	Operation setting	Effective immediately	3000	0 to 5000	rpm	0x0111	273	16-bit
P01-18	Reverse speed limit in torque mode	Operation setting	Effective immediately	3000	0 to 5000	rpm	0x0112	274	16-bit
P01-19	Torque saturation timeout period	Operation setting	Effective immediately	3000	0 to 65535	ms	0x0113	275	16-bit
P01-21	Zero-speed clamp function selection	Operation setting	Effective immediately	3000	0 to 3	rpm	0x0115	277	16-bit
P01-22	Zero speed clamp speed threshold	Operation setting	Effective immediately	1000	0 to 5000	ms	0x0116	278	16-bit
P01-23	Internal speed instruction 1	Operation setting	Effective immediately	0	0 to 3	-	0x0117	279	16-bit
P01-24	Internal speed instruction 2	Operation setting	Effective immediately	0	0 to 5000	rpm	0x0118	280	16-bit
P01-25	Internal speed instruction 3	Operation setting	Effective immediately	0	-5000 to 5000	rpm	0x0119	281	16-bit
P01-26	Internal speed instruction 4	Operation setting	Effective immediately	0	-5000 to 5000	rpm	0x011A	282	16-bit
P01-27	Internal speed instruction 5	Operation setting	Effective immediately	0	-5000 to 5000	rpm	0x011B	283	16-bit
P01-28	Internal speed instruction 6	Operation setting	Effective immediately	0	-5000 to 5000	rpm	0x011C	284	16-bit
P01-29	Internal speed instruction 7	Operation setting	Effective immediately	0	-5000 to 5000	rpm	0x011D	285	16-bit
P01-30	Delay from brake output ON to instruction reception	Operation setting	Effective immediately	0	0 to 500	ms	0x011E	286	16-bit
P01-31	In the static state, delay from the brake output is OFF to the motor is not energized.	Operation setting	Effective immediately	0	1 to 1000	ms	0x011F	287	16-bit
P01-32	Rotation state, when the brake output is OFF, the speed threshold	Operation setting	Effective immediately	250	0 to 3000	rpm	0x0120	288	16-bit
P01-33	Rotation status, delay from servo enable OFF to brake output OFF	Operation setting	Effective immediately	150	1 to 1000	ms	0x0121	289	16-bit
P01-37	JOG acceleration time	Operation setting	Effective immediately	500	1 to 5000	ms	0x0125	293	16-bit
P01-38	JOG deceleration time	Operation setting	Effective immediately	500	1 to 5000	ms	0x0126	294	16-bit
P01-38	JOG deceleration time	Operation setting	Effective immediately	500	1 to 5000	ms	0x0126	294	16-bit
P01-39	Home return startup mode	Shutdown setting	Effective immediately	0	0 to 4	-	0x0127	295	16-bit
P01-40	Home return mode	Shutdown setting	Effective immediately	0	0 to 35	-	0x0128	296	16-bit
P01-41	High-speed search for deceleration point signal speed	Operation setting	Effective immediately	600	1 to 3000	rpm	0x0129	297	16-bit
P01-42	Low Search Home Signal Speed	Operation setting	Effective immediately	60	1 to 300	rpm	0x012A	298	16-bit
P01-43	Home return acceleration and deceleration time	Operation setting	Effective immediately	50	1 to 1000	ms	0x012B	299	16-bit
P01-44	Home return overtime bounded time	Operation setting	Effective immediately	65535	100 to 65535	ms	0x012C	300	16-bit

Group P02 Gain adjustment

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P02-01	1st position loop gain	Operation setting	Effective immediately	400	0 to 6200	0.1Hz	0x0201	513	16-bit
P02-02	1st speed loop gain	Operation setting	Effective immediately	65	0 to 35000	0.1Hz	0x0202	514	16-bit
P02-03	1st speed loop integral time constant	Operation setting	Effective immediately	1000	100 to 65535	0.1ms	0x0203	515	16-bit
P02-04	2nd position loop gain	Operation setting	Effective immediately	35	0 to 6200	0.1Hz	0x0204	516	16-bit
P02-05	2nd speed loop gain	Operation setting	Effective immediately	65	0 to 35000	0.1Hz	0x0205	517	16-bit
P02-06	2nd speed loop integral time constant	Operation setting	Effective immediately	1000	0 to 65535	0.1ms	0x0206	518	16-bit
P02-07	2nd gain switching mode	Operation setting	Effective immediately	0	0 to 3	-	0x0207	519	16-bit
P02-08	Gain switch condition limit	Operation setting	Effective immediately	0	0 to 10		0x0208	520	16-bit
P02-09	Speed feedforward gain	Operation setting	Effective immediately	0	0 to 1000	0.1%	0x0209	521	16-bit
P02-10	Speed feedforward filter time constant	Operation setting	Effective immediately	50	0 to 10000	0.01ms	0x020A	522	16-bit
P02-11	Torque feedforward gain	Operation setting	Effective immediately	0	0 to 2000	0.1%	0x020B	523	16-bit
P02-12	Torque feedforward filter time constant	Operation setting	Effective immediately	50	0 to 10000	0.01ms	0x020C	524	16-bit
P02-13	Delay Time for Gain Switching	Operation setting	Effective immediately	20	0 to 10000	0.1ms	0x020D	525	16-bit
P02-14	Gain switching grade	Operation setting	Effective immediately	50	0 to 20000		0x020E	526	16-bit
P02-15	Gain switching hysteresis	Operation setting	Effective immediately	20	0 to 20000		0x020F	527	16-bit
P02-16	Position loop gain switching time	Operation setting	Effective immediately	30	0 to 10000	0.1ms	0x0210	528	16-bit
P02-20	Enable model tracking control function	Shutdown setting	Effective immediately	0	0 to 1		0x0214	532	16-bit
P02-21	Model tracking control gain	Shutdown setting	Effective immediately	1000	20 to 20000	0.1/s	0x0215	533	16-bit
P02-22	Model tracking control gain compensation	Shutdown setting	Effective immediately	1000	500 to 2000	0.10%	0x0216	534	16-bit
P02-23	Model tracking control forward rotation bias	Operation setting	Effective immediately	1000	0 to 10000	0.10%	0x0217	535	16-bit
P02-24	Model tracking control reverses rotation bias	Operation setting	Effective immediately	1000	0 to 10000	0.10%	0x0218	536	16-bit
P02-25	Model tracking control	Operation setting	Effective immediately	1000	0 to 10000	0.10%	0x0219	537	16-bit

Group P03 Self-adjustment parameters

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P03-01	Load inertia ratio	Operation setting	Effective immediately	300	100 to 10000	0.01	0x0301	769	16-bit
P03-02	Load rigidity grade selection	Operation setting	Effective immediately	14	0 to 31	-	0x0302	770	16-bit
P03-03	Self-adjusting mode selection	Operation setting	Effective immediately	0	0 to 2	-	0x0303	771	16-bit
P03-04	Online inertia recognition sensitivity	Operation setting	Effective immediately	0	0 to 2	-	0x0304	772	16-bit
P03-05	Number of cycles of inertia identification	Shutdown setting	Effective immediately	2	1 to 20	Circle	0x0305	773	16-bit
P03-06	Maximum speed of inertia identification	Shutdown setting	Effective immediately	1000	300 to 2000	rpm	0x0306	774	16-bit
P03-07	Parameter identification of rotation direction	Shutdown setting	Effective immediately	0	0 to 2	-	0x0307	775	16-bit
P03-08	Parameter identification waiting time	Shutdown setting	Effective immediately	1000	300 to 10000	ms	0x0308	776	16-bit

Group P04 Vibration suppression

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P04-01	Pulse instruction filtering method	Shutdown setting	Effective immediately	0	0 to 1	-	0x0401	1025	16-bit
P04-02	Position instruction first-order low-pass filtering time constant	Shutdown setting	Effective immediately	0	0 to 1000	ms	0x0402	1026	16-bit
P04-03	Position instruction average filter time constant	Shutdown setting	Effective immediately	0	0 to 128	ms	0x0403	1027	16-bit
P04-04	Torque filter time constant	Operation setting	Effective immediately	80	10 to 2500	0.01ms	0x0404	1028	16-bit
P04-05	1st notch filter frequency	Operation setting	Effective immediately	300	250 to 5000	Hz	0x0405	1029	16-bit
P04-06	1st notch filter depth	Operation setting	Effective immediately	100	0 to 100	-	0x0406	1030	16-bit
P04-07	1st notch filter width	Operation setting	Effective immediately	4	0 to 12	-	0x0407	1031	16-bit
P04-08	2nd notch filter frequency	Operation setting	Effective immediately	500	250 to 5000	Hz	0x0408	1032	16-bit
P04-09	2nd notch filter depth	Operation setting	Effective immediately	100	0 to 100	-	0x0409	1033	16-bit
P04-10	2nd notch filter width	Operation setting	Effective immediately	4	0 to 12	-	0x040A	1034	16-bit
P04-11	Enable low-frequency vibration suppression function	Operation setting	Effective immediately	0	0 to 1	-	0x040B	1035	16-bit
P04-12	Low-frequency vibration suppression frequency	Operation setting	Effective immediately	800	10 to 2000	0.1HZ	0x040C	1036	16-bit
P04-14	Shutdown vibration detection amplitude	Operation setting	Effective immediately	100	0 to 3000	0.001	0x040E	1038	16-bit
P04-18	Speed feedback filtering time	Operation setting	Effective immediately	40	20 to 1000	0.01ms	0x0412	1042	16-bit
P04-19	Enable the type A suppression function	Operation setting	Effective immediately	0	0 to 1	-	0x0413	1043	16-bit
P04-20	Type A suppression frequency	Operation setting	Effective immediately	1000	100 to 20000	0.1HZ	0x0414	1044	16-bit
P04-21	Type A suppression gain correction	Operation setting	Effective immediately	100	0 to 1000	0.01	0x0415	1045	16-bit
P04-22	Type A suppression damping gain	Operation setting	Effective immediately	0	0 to 500	0.01	0x0416	1046	16-bit
P04-23	Type A suppression phase correction	Operation setting	Effective immediately	200	0 to 900	0.1 degree	0x0417	1047	16-bit

Group P05 Signal input and output

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P05-01	AI_1 input bias	Operation setting	Effective immediately	0	-5000 to 5000	mV	0x0501	1281	16-bit
P05-02	AI_1 input filter time constant	Operation setting	Effective immediately	200	0 to 60000	0.01ms	0x0502	1282	16-bit
P05-03	AI_1 dead zone	Operation setting	Effective immediately	20	0 to 1000	mV	0x0503	1283	16-bit
P05-04	AI_1 zero drift	Operation setting	Effective immediately	0	-500 to 500	mV	0x0504	1284	16-bit
P05-05	AI_2 input bias	Operation setting	Effective immediately	0	-5000 to 5000	mV	0x0505	1285	16-bit
P05-06	AI_2 input filter time constant	Operation setting	Effective immediately	200	0 to 60000	0.01ms	0x0506	1286	16-bit
P05-07	AI_2 dead zone	Operation setting	Effective immediately	20	0 to 500	mV	0x0507	1287	16-bit
P05-08	AI_2 zero drift	Operation setting	Effective immediately	0	-500 to 500	mV	0x0508	1288	16-bit
P05-09	Analog quantity 10V for speed value	Shutdown setting	Effective immediately	3000	100 to 4500	rpm	0x0509	1289	16-bit
P05-10	Analog quantity 10V for torque value	Shutdown setting	Effective immediately	1000	0 to 3000	0.1%	0x050A	1290	16-bit
P05-11	Positioning is completed, positioning close condition setting	Operation setting	Effective immediately	0	0 to 3	-	0x050B	1291	16-bit
P05-12	Positioning completion threshold	Operation setting	Effective immediately	800	1 to 65535	Equivalent pulse unit	0x050C	1292	16-bit
P05-13	Positioning approach threshold	Operation setting	Effective immediately	5000	1 to 65535	Equivalent pulse unit	0x050D	1293	16-bit
P05-14	Position detection window time	Operation setting	Effective immediately	10	0 to 20000	ms	0x050E	1294	16-bit
P05-15	Positioning signal hold time	Operation setting	Effective immediately	100	0 to 20000	ms	0x050F	1295	16-bit
P05-16	Rotation detection speed threshold	Operation setting	Effective immediately	20	0 to 1000	rpm	0x0510	1296	16-bit
P05-17	Speed consistent signal threshold	Operation setting	Effective immediately	10	0 to 100	rpm	0x0511	1297	16-bit
P05-18	Speed approach signal threshold	Operation setting	Effective immediately	100	10 to 6000	rpm	0x0512	1298	16-bit
P05-19	Zero speed output signal threshold	Operation setting	Effective immediately	10	0 to 6000	rpm	0x0513	1299	16-bit
P05-20	Torque arrival threshold	Operation setting	Effective immediately	100	0 to 300	%	0x0514	1300	16-bit
P05-21	Torque arrival hysteresis value	Operation setting	Effective immediately	10	0 to 20	%	0x0515	1301	16-bit

Group P06 DIDO configuration

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P06-02	DI_1 channel function selection	Operation setting	Power-on again	1	0 to 32	-	0x0602	1538	16-bit
P06-03	DI_1 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x0603	1539	16-bit
P06-04	DI_1 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x0604	1540	16-bit
P06-05	DI_2 channel function selection	Operation setting	Power-on again	2	0 to 32	-	0x0605	1541	16-bit
P06-06	DI_2 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x0606	1542	16-bit
P06-07	DI_2 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x0607	1543	16-bit
P06-08	DI_3 channel function selection	Operation setting	Power-on again	3	0 to 32	-	0x0608	1544	16-bit
P06-09	DI_3 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x0609	1545	16-bit
P06-10	DI_3 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x060A	1546	16-bit
P06-11	DI_4 channel function selection	Operation setting	Power-on again	4	0 to 32	-	0x060B	1547	16-bit
P06-12	DI_4 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x060C	1548	16-bit
P06-13	DI_4 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x060D	1549	16-bit
P06-14	DI_5 channel function selection	Operation setting	Power-on again	7	0 to 32	-	0x060E	1550	16-bit
P06-15	DI_5 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x060F	1551	16-bit
P06-16	DI_5 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x0610	1552	16-bit
P06-17	DI_6 channel function selection	Operation setting	Power-on again	11	0 to 32	-	0x0611	1553	16-bit
P06-18	DI_6 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x0612	1554	16-bit
P06-19	DI_6 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x0613	1555	16-bit
P06-20	DI_7 channel function selection	Operation setting	Power-on again	0	0 to 32	-	0x0614	1556	16-bit
P06-21	DI_7 channel logic selection	Operation setting	Power-on again	0	0 to 1	-	0x0615	1557	16-bit
P06-22	DI_7 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x0616	1558	16-bit
P06-23	DI_8 channel function selection	Operation setting	Power-on again	0	0 to 32	-	0x0617	1559	16-bit
P06-24	DI_8 channel logic selection	Operation setting	Power-on again	0	0 to 1	-	0x0618	1560	16-bit
P06-25	DI_8 input source selection	Operation setting	Effective immediately	0	0 to 1	-	0x0619	1561	16-bit
P06-26	DO_1 channel function selection	Operation setting	Effective immediately	132	128 to 148	-	0x061A	1562	16-bit
P06-27	DO_1 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x061B	1563	16-bit
P06-28	DO_2 channel function selection	Operation setting	Effective immediately	130	128 to 148	-	0x061C	1564	16-bit
P06-29	DO_2 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x061D	1565	16-bit
P06-30	DO_3 channel function selection	Operation setting	Effective immediately	129	128 to 148	-	0x061E	1566	16-bit
P06-31	DO_3 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x061F	1567	16-bit
P06-32	DO_4 channel function selection	Operation setting	Effective immediately	134	128 to 148	-	0x0620	1568	16-bit
P06-33	DO_4 channel logic selection	Operation setting	Effective immediately	0	0 to 1	-	0x0621	1569	16-bit

Group P07 multi-segment position

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P07-01	multi-segment position operation mode	Shutdown setting	Effective immediately	0	0 to 2	-	0x0701	1793	16-bit
P07-02	Starting position number	Shutdown setting	Effective immediately	1	1 to 16	-	0x0702	1794	16-bit
P07-03	End position number	Shutdown setting	Effective immediately	1	1 to 16	-	0x0703	1795	16-bit
P07-04	Margin processing method	Shutdown setting	Effective immediately	0	0 to 1	-	0x0704	1796	16-bit
P07-05	Displacement instruction type	Shutdown setting	Effective immediately	0	0 to 1	-	0x0705	1797	16-bit
P07-06	Waiting time unit	Shutdown setting	Effective immediately	0	0 to 1	-	0x0706	1798	16-bit
P07-07	Reserved	Shutdown setting	Effective immediately	0	0 to 63355	-	0x0707	1799	16-bit
P07-08	Reserved	Shutdown setting	Effective immediately	0	0 to 0	-	0x0708	1800	16-bit
P07-09	The 1st position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0709	1801	32-bit
P07-10	Maximum speed of the 1st position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x070B	1803	16-bit
P07-11	Acceleration and deceleration time of the 1st position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x070C	1804	16-bit
P07-12	Waiting time after completion of the 1st position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x070D	1805	16-bit
P07-13	The 2nd position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x070E	1806	32-bit
P07-14	Maximum speed of the 2nd position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0710	1808	16-bit
P07-15	Acceleration and deceleration time of the 2nd position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0711	1809	16-bit
P07-16	Waiting time after completion of the 2nd position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0712	1810	16-bit
P07-17	The 3rd position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0713	1811	32-bit
P07-18	Maximum speed of the 3rd position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0715	1813	16-bit
P07-19	Acceleration and deceleration time of the 3rd position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0716	1814	16-bit
P07-20	Waiting time after completion of the 3rd position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0717	1815	16-bit
P07-21	The 4th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0718	1816	32-bit
P07-22	Maximum speed of the 4th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x071A	1818	16-bit
P07-23	Acceleration and deceleration time of the 4th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x071B	1819	16-bit
P07-24	Waiting time after completion of the 4th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x071C	1820	16-bit
P07-25	The 5th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x071D	1821	32-bit
P07-26	Maximum speed of the 5th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x071F	1823	16-bit
P07-27	Acceleration and deceleration time of the 5th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0720	1824	16-bit
P07-28	Waiting time after completion of the 5th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0721	1825	16-bit
P07-29	The 6th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0722	1826	32-bit
P07-30	Maximum speed of the 6th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0724	1828	16-bit
P07-31	Acceleration and deceleration time of the 6th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0725	1829	16-bit
P07-32	Waiting time after completion of the 6th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0726	1830	16-bit
P07-33	The 7th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0727	1831	32-bit
P07-34	Maximum speed of the 7th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0729	1833	16-bit
P07-35	Acceleration and deceleration time of the 7th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x072A	1834	16-bit
P07-36	Waiting time after completion of the 7th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x072B	1835	16-bit
P07-37	The 8th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x072C	1836	32-bit
P07-38	Maximum speed of the 8th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x072E	1838	16-bit
P07-39	Acceleration and deceleration time of the 8th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x072F	1839	16-bit
P07-40	Waiting time after completion of the 8th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0730	1840	16-bit
P07-41	The 9th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0731	1841	32-bit
P07-42	Maximum speed of the 9th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0733	1843	16-bit
P07-43	Acceleration and deceleration time of the 9th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0734	1844	16-bit
P07-44	Waiting time after completion of the 9th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0735	1845	16-bit
P07-45	The 10th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0736	1846	32-bit
P07-46	Maximum speed of the 10th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0738	1848	16-bit
P07-47	Acceleration and deceleration time of the 10th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0739	1849	16-bit
P07-48	Waiting time after completion of the 10th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x073A	1850	16-bit
P07-49	The 11th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x073B	1851	32-bit
P07-50	Maximum speed of the 11th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x073D	1853	16-bit
P07-51	Acceleration and deceleration time of the 11th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x073E	1854	16-bit
P07-52	Waiting time after completion of the 11th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x073F	1855	16-bit
P07-53	The 12th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0740	1856	32-bit
P07-54	Maximum speed of the 12th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0742	1858	16-bit
P07-55	Acceleration and deceleration time of the 12th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0743	1859	16-bit
P07-56	Waiting time after completion of the 12th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0744	1860	16-bit
P07-57	The 13th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0745	1861	32-bit
P07-58	Maximum speed of the 13th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0747	1863	16-bit
P07-59	Acceleration and deceleration time of the 13th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0748	1864	16-bit
P07-60	Waiting time after completion of the 13th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0749	1865	16-bit
P07-61	The 14th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x074A	1866	32-bit
P07-62	Maximum speed of the 14th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x074C	1868	16-bit
P07-63	Acceleration and deceleration time of the 14th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x074D	1869	16-bit
P07-64	Waiting time after completion of the 14th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x074E	1870	16-bit
P07-65	The 15th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x074F	1871	32-bit
P07-66	Maximum speed of the 15th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0751	1873	16-bit
P07-67	Acceleration and deceleration time of the 15th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0752	1874	16-bit
P07-68	Waiting time after completion of the 15th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0753	1875	16-bit
P07-69	The 16th position displacement	Operation setting	Effective immediately	10000	-2147483647 to 2147483646	-	0x0754	1876	32-bit
P07-70	Maximum speed of the 16th position displacement	Operation setting	Effective immediately	100	1 to 5000	rpm	0x0756	1878	16-bit
P07-71	Acceleration and deceleration time of the 16th position displacement	Operation setting	Effective immediately	100	1 to 65535	ms	0x0757	1879	16-bit
P07-72	Waiting time after completion of the 16th position displacement	Operation setting	Effective immediately	100	1 to 65535	Set by P07-06	0x0758	1880	16-bit

Group P10 Accessibility

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P10-01	JOG speed	Operation setting	Effective immediately	100	0 to 3000	rpm	0x0A01	2561	16-bit
P10-02	Restore factory settings	Shutdown setting	Effective immediately	0	0 to 1	-	0x0A02	2562	16-bit
P10-03	Fault clearing	Operation setting	Effective immediately	0	0 to 1	-	0x0A03	2563	16-bit
P10-04	Motor overload protection time factor	Operation setting	Effective immediately	100	0 to 800	%	0x0A04	2564	16-bit
P10-05	Motor model	Operation setting	Power-on again	0	0 to 65535	-	0x0A05	2565	16-bit
P10-06	Multi-turn absolute encoder reset	Shutdown setting	Effective immediately	0	0 to 1	-	0x0A06	2566	16-bit
P10-07	Set machine code manually	Operation setting	Power-on again	0	0 to 1	-	0x0A07	2567	16-bit
P10-08	Multi-turn absolute encoder origin offset compensation	Operation setting	Effective immediately	0	-2147483647 to 2147483646	-	0x0A08	2568	32-bit
P10-11	Motor stall overtemperature enable	Operation setting	Effective immediately	0	0 to1	-	0x0A0C	2572	16-bit

Group P12 Communication parameters

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P12-01	Servo address	Operation setting	Effective immediately	1	1 to 247	-	0x0C01	3073	16-bit
P12-02	Baud rate	Operation setting	Effective immediately	2	0 to 5	-	0x0C02	3074	16-bit
P12-03	Serial data format	Operation setting	Effective immediately	0	0 to 3	-	0x0C03	3075	16-bit
P12-04	Modbus communication data is written into EEPROM	Operation setting	Effective immediately	0	0 to 1	-	0x0C04	3076	16-bit
P12-05	RS422/RS485 function selection	Operation setting	Effective immediately	0	0 to 1	-	0x0C05	3077	16-bit
P12-06	Modbus 32-bit variable high and low byte order	Operation setting	Effective immediately	0	0 to 1		0x0C06	3078	16-bit

Group P13 Virtual input terminal

Function code	Name	Setting method	Effective time	Default	Range	Unit	Modbus address		Data type
Function code	Name	Setting method	Effective time	Default	Range	Unit	Hexadecimal	Decimal	Data type
P13-01	Virtual VDI_1 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D01	3329	16-bit
P13-02	Virtual VDI_2 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D02	3330	16-bit
P13-03	Virtual VDI_3 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D03	3331	16-bit
P13-04	Virtual VDI_4 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D04	3332	16-bit
P13-05	Virtual VDI_5 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D05	3333	16-bit
P13-06	Virtual VDI_6 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D06	3334	16-bit
P13-07	Virtual VDI_7 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D07	3335	16-bit
P13-08	Virtual VDI_8 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D08	3336	16-bit
P13-11	Virtual VDO_1 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D0B	3339	16-bit
P13-12	Virtual VDO_2 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D0C	3340	16-bit
P13-13	Virtual VDO_3 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D0D	3341	16-bit
P13-14	Virtual VDO_4 input value	Operation setting	Effective immediately	0	0 to 1	-	0x0D0E	3342	16-bit

DI/DO channel function definition

DI channel function definition
Number	Name	Function name	Content
0	--	Off (not used)	-
1	S-ON	Servo enable	Invalid DI port logic: Servo motor enable prohibited Valid DI port logic: Servo motor is enabled
2	A-CLR	Fault and warning clear	Invalid DI port logic: No reset fault or warning Valid DI port logic: Reset fault or warning
3	POT	Forward drive prohibition	Invalid DI port logic: Forward drive allowed Valid DI port logic: Forward drive Prohibited
4	NOT	Reverse drive prohibition	Invalid DI port logic: Reverse drive allowed Valid DI port logic: Reverse drive Prohibited
5	ZCLAMP	Zero-speed clamp	Invalid DI port logic: Zero-speed clamp prohibited Valid DI port logic: Zero-speed clamp enabled
6	CL	Clear deviation counter	Invalid DI port logic: Position deviation is not clear Valid DI port logic: Position deviation is clear
7	C-SIGN	Instruction is reversed	Invalid DI port logic: default instruction direction Valid DI port logic: Reverse direction of instruction
8	E-STOP	Emergency stop	Invalid DI port logic: Position lock after zero speed stop Valid DI port logic: Current running status is not affected
9	GEAR-SEL	Electronic Gear Switch 1	Invalid DI port logic: electronic Gear Switch 1 Valid DI port logic: electronic Gear Switch 2
10	GAIN-SEL	Gain switch	-
11	INH	Instruction pulse input prohibited	Invalid DI port logic: Instruction pulse input allowed Valid DI port logic: Instruction pulse input prohibited
12	VSSEL	Vibration control input switching	-
13	INSPD1	Internal speed instruction selection 1	Constitutes an internal multi-segment speed running segment number
14	INSPD2	Internal speed instruction selection 2	Constitutes an internal multi-segment speed running segment number
15	INSPD3	Internal speed instruction selection 3	Constitutes an internal multi-segment speed running segment number
16	J-SEL	Inertia ratio switch (not implemented yet)	-
17	MixModeSel	MixModeSel Mix mode selection	Invalid DI port logic: Current running is not affected Valid DI port logic: Servo motor is in mix control mode
18	None	None	-
19	None	None	-
20	ENINPOS	Internal multi-segment enable signal	Invalid DI port logic: Current running is not affected Valid DI port logic: Servo motor runs multi-segment position
21	INPOS1	Internal multi-segment position selection 1	Constitutes an internal multi-segment position running segment number
22	INPOS2	Internal multi-segment position selection 2	Constitutes an internal multi-segment position running segment number
23	INPOS3	Internal multi-segment position selection 3	Constitutes an internal multi-segment position running segment number
24	INPOS4	Internal multi-segment position selection 4	Constitutes an internal multi-segment position running segment number

DI channel function definition
Number		Name	Function name	Content
128		--	OFF (not used)	-
129		RDY	Servo is ready	Servo is ready, and could receive S-ON signal. Invalid DO port logic: Servo is not ready Valid DO port logic: Servo is ready
130		ALM	Fault signal	Valid when the fault is detected
131		WARN	Warning signal	Valid when warning signals are output
132		TGON	Rotation detection	When the absolute value of servo motor speed is higher than P05-16 set value: Invalid DO port logic: invalid motor rotation detection signal Valid DO port logic: valid motor rotation detection signal
133		ZSP	Zero speed signal	The signal output by the servo motor when it stops: Invalid DO port logic: invalid motor zero-speed signal Valid DO port logic: valid motor zero-speed signal
134		P-COIN	Positioning complete	Output this signal indicates that the servo drive positioning is complete
135		P-NEAR	Positioning approach	Output this signal indicates that the servo drive positioning is approach
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
137		V-NEAR	Speed approach	Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18 Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
138		T-COIN	Torque arrival	Invalid DO port logic: The absolute value of torque instruction is smaller than the set value. Valid DO port logic: The absolute value of torque instruction reaches the set value.
139		T-LIMIT	Torque limit	The confirmation signal of torque limit. Invalid DO port logic: The torque of motor is not limited Valid DO port logic: The torque of motor is limited
140		V-LIMIT	Speed limited	The confirmation signal of speed limit in torque mode. Invalid DO port logic: The motor speed is not limited Valid DO port logic: The motor speed is limited
141		BRK-OFF	Brake output	Output brake signal Invalid DO port logic: The brake device does not operate Valid DO port logic: The brake device operates
142		SRV-ST	Servo on state output	Invalid DO port logic: Servo motor is not operate Valid DO port logic: Servo motor is in operation
143	VD2A VD2B	None	-	-
143	VD2F	OZ	Z pulse output	The output signal indicates that servo drive rotates 1 turn
144		None	-	-
145		COM_VDO1	Communication VDO1 output	Use communication VDO
146		COM_VDO2	Communication VDO2 output	Use communication VDO
147		COM_VDO3	Communication VDO3 output	Use communication VDO
148		COM_VDO4	Communication VDO4 output	Use communication VDO

Group U0 Monitoring parameters

Function code	Name	Category	Unit	Modbus address		Data type
Function code	Name	Category	Unit	Hexadecimal	Decimal	Data type
U0-01	Servo Status	Universal	-	0x1E01	7681	16-bit
U0-02	Servo motor speed	Universal	rpm	0x1E02	7682	16-bit
U0-03	Input speed instruction	Universal	rpm	0x1E03	7683	16-bit
U0-04	Corresponding speed of position instruction	Universal	rpm	0x1E04	7684	16-bit
U0-05	Pulse deviation	Universal	Equivalent pulse unit	0x1E05	7685	32-bit
U0-06	Reserved	Universal	-	0x1E07	7687	16-bit
U0-07	Reserved	Universal	-	0x1E08	7688	16-bit
U0-08	Input instruction pulse frequency	Universal	kHz	0x1E09	7689	16-bit
U0-09	Input instruction pulse number (lower 32 bits)	Universal	Instruction unit	0x1E0A	7690	32-bit
U0-10	Reserved	Universal	Instruction unit	0x1E0C	7692	16-bit
U0-11	Reserved	Universal	Instruction unit	0x1E0D	7693	32-bit
U0-12	Real-time torque monitoring	Universal	0.1%	0x1E0F	7695	16-bit
U0-13	Encoder cumulative position (lower 32 bits)	Universal	Encoder unit	0x1E10	7696	32-bit
U0-14	Reserved	Universal	Encoder unit	0x1E12	7698	16-bit
U0-15	Encoder cumulative position (high 32 bits)	Universal	Encoder unit	0x1E13	7699	32-bit
U0-16	Reserved	Universal	Encoder unit	0x1E15	7701	16-bit
U0-17	DI input signal status	Universal	-	0x1E16	7702	16-bit
U0-18	Reserved	Universal	-	0x1E17	7703	16-bit
U0-19	DO output signal status	Universal	-	0x1E18	7704	16-bit
U0-20	Real-time load inertia ratio	Universal	%	0x1E19	7705	16-bit
U0-21	AI1 input voltage value	Universal	V	0x1E1A	7706	16-bit
U0-21	Reserved*	Universal	V	0x1E1A	7706	16-bit
U0-22	AI2 input voltage value	Universal	V	0x1E1B	7707	16-bit
U0-22	Reserved*	Universal	V	0x1E1B	7707	16-bit
U0-23	Vibration Frequency	Universal	Hz	0x1E1C	7708	16-bit
U0-24	Vibration Amplitude	Universal	rpm	0x1E1D	7709	16-bit
U0-25	Forward torque limit value	Universal	%	0x1E1E	7710	16-bit
U0-26	Reverse torque limit value	Universal	%	0x1E1F	7711	16-bit
U0-27	Forward speed limit value	Universal	rpm	0x1E20	7712	16-bit
U0-28	Reverse speed limit value	Universal	rpm	0x1E21	7713	16-bit
U0-29	Mechanical angle	Universal	°	0x1E22	7714	16-bit
U0-30	Electrical angle	Universal	°	0x1E23	7715	16-bit
U0-31	Bus voltage	Universal	V	0x1E24	7716	16-bit
U0-32	Radiator temperature	Universal	°C	0x1E25	7717	16-bit
U0-33	Instantaneous output power	Universal	W	0x1E26	7718	16-bit
U0-34	Average output power	Universal	W	0x1E27	7719	16-bit
U0-35	Total operation time (hour)	Universal	h	0x1E28	7720	16-bit
U0-36	Reserved	Universal	-	0x1E29	7721	16-bit
U0-37	Total operation time (minute)	Universal	min	0x1E2A	7722	16-bit
U0-38	Total operation time (second)	Universal	s	0x1E2B	7723	16-bit
U0-39	Load torque percentage	Universal	%	0x1E2C	7724	16-bit
U0-40	Current operation time (hour)	Universal	h	0x1E2D	7725	16-bit
U0-41	Reserved	-	-	0x1E2E	7726	16-bit
U0-42	Current operation time (minute)	Universal	min	0x1E2F	7727	16-bit
U0-43	Current operation time (second)	Universal	s	0x1E30	7728	16-bit
U0-44	Instantaneous braking resistor power	Universal	W	0x1E31	7729	16-bit
U0-45	Reserved	-	-	0x1E32	7730	16-bit
U0-46	Average braking resistor power	Universal	W	0x1E33	7731	16-bit
U0-47	Reserved	Universal	-	0x1E34	7732	16-bit
U0-48	Power-on times	Universal	Times	0x1E35	7733	16-bit
U0-49	Reserved	-	-	0x1E36	7734	16-bit
U0-50	Motor cumulative number of turns (low 32 bits)	Universal	Circle	0x1E37	7735	32-bit
U0-51	Motor cumulative number of turns (high 32 bits)	Universal	Circle	0x1E39	7737	32-bit
U0-52	Reserved	Universal	-	0x1E3B	7739	16-bit
U0-53	Motor model code	Universal	-	0x1E3C	7740	16-bit
U0-54	Absolute encoder position in 1 circle	Universal	Encoder unit	0x1E3D	7741	32-bit
U0-55	Circle numbers of multi-turn absolute encoder	Universal	Circle	0x1E3F	7743	16-bit
U0-56	Current position of multi-turn absolute encoder	Universal	Instruction unit	0x1E41	7745	32-bit

Group U1 Warning monitoring

Function code	Name	Category	Unit	Modbus address		Data type
Function code	Name	Category	Unit	Hexadecimal	Decimal	Data type
U1-01	Current fault code	Warning	-	0x1F01	7937	16-bit
U1-02	Current warning code	Warning	-	0x1F02	7938	16-bit
U1-03	U phase current when faults occur	Warning	A	0x1F03	7939	16-bit
U1-04	V phase current when faults occur	Warning	A	0x1F04	7940	16-bit
U1-05	Bus voltage when faults occur	Warning	V	0x1F05	7941	16-bit
U1-06	IGBT temperature when faults occur	Warning	°C	0x1F06	7942	16-bit
U1-07	Torque component when faults occur	Warning	%	0x1F07	7943	16-bit
U1-08	Excitation component when faults occur	Warning	%	0x1F08	7944	16-bit
U1-09	Position deviation when faults occur	Warning	Encoder unit	0x1F09	7945	32-bit
U1-10	Speed value when faults occur	Warning	rpm	0x1F0B	7947	16-bit
U1-11	Time when the fault occurred	Warning	s	0x1F0C	7948	16-bit
U1-12	Number of faults in this operation	Warning	-	0x1F0D	7949	16-bit
U1-13	Number of warnings in this operation	Warning	-	0x1F0E	7950	16-bit
U1-14	Total number of historical faults	Warning	-	0x1F0F	7951	16-bit
U1-15	Total number of historical warnings	Warning	-	0x1F10	7952	16-bit
U1-16	The 1st fault code of the most recent	Warning	-	0x1F11	7953	16-bit
U1-17	The 2nd fault code of the most recent	Warning	-	0x1F12	7954	16-bit
U1-18	The 3rd fault code of the most recent	Warning	-	0x1F13	7955	16-bit
U1-19	The 4th fault code of the most recent	Warning	-	0x1F14	7956	16-bit
U1-20	The 5th fault code of the most recent	Warning	-	0x1F15	7957	16-bit
U1-21	The 1st warning code of the most recent	Warning	-	0x1F16	7958	16-bit
U1-22	The 2nd warning code of the most recent	Warning	-	0x1F17	7959	16-bit
U1-23	The 3rd warning code of the most recent	Warning	-	0x1F18	7960	16-bit
U1-24	The 4th warning code of the most recent	Warning	-	0x1F19	7961	16-bit
U1-25	The 5th warning code of the most recent	Warning	-	0x1F1A	7962	16-bit

Group U2 Device monitoring

Function code	Name	Category	Unit	Modbus address		Data type
Function code	Name	Category	Unit	Hexadecimal	Decimal	Data type
U2-01	Product Series	Device	-	0x2001	8193	16-bit
U2-02	Model	Device	-	0x2002	8194	16-bit
U2-03	Model	Device	-	0x2003	8195	16-bit
U2-04	Firmware version	Device	-	0x2004	8196	16-bit
U2-05	FPGA version	Device	-	0x2005	8197	16-bit
U2-06	Firmware day (year)	Device	-	0x2006	8198	16-bit
U2-07	Firmware day (month)	Device	Month	0x2007	8199	16-bit
U2-08	Firmware day (day)	Device	Day	0x2008	8200	16-bit
U2-09	Device serial number 1	Device	Day	0x2009	8201	16-bit
U2-10	Device serial number 2	Device	-	0x200A	8202	16-bit
U2-11	Device serial number 3	Device	-	0x200B	8203	16-bit
U2-12	Device serial number 4	Device	-	0x200C	8204	16-bit
U2-13	Device serial number 5	Device	-	0x200D	8205	16-bit
U2-14	Device serial number 6	Device	-	0x200E	8206	16-bit
U2-15	Device serial number 7	Device	-	0x200F	8207	16-bit
U2-16	Device serial number 8	Device	-	0x2010	8208	16-bit

List of codes

Code	Content	Clearable	Stop immediately
Er.01	Parameter damage		✔
Er.02	Parameter storage error		✔
Er.03	ADC reference source error		✔
Er.04	AD current sampling conversion error		✔
Er.05	FPGA communication exception		✔
Er.06	FPGA incorrect program version		✔
Er.07	Clock exception		✔
Er.20	Overcurrent		✔
Er.21	Main power supply is undervoltage	✔	✔
Er.22	Main power supply is overvoltage	✔	✔
Er.23	Braking resistor is not connected	✔	✔
Er.24	Braking resistor is abnormal		✔
Er.25	Braking resistor resistance is too large	✔	✔
Er.26	Wrong motor model		✔
Er.27	Encoder is disconnected	✔	✔
Er.28	Encoder Z pulse is lost		✔
Er.29	The incremental encoder AB count does not equal to the number of encoder lines multiply by 4		✔
Er.30	Encoder UVW signal error		✔
Er.31	The power line is disconnected	✔	✔
Er.32	Exceeding the maximum speed of motor		✔
Er.33	The power module is over temperature	✔	✔
Er.34	Motor overload protection	✔	✔
Er.35	Electronic gear ratio exceeds the limit	✔	✔
Er.36	Position deviation is too large	✔	✔
Er.37	Torque saturation is abnormal	✔	✔
Er.38	The main circuit is electrically deficient	✔	✔
Er.39	Emergency stop	✔	✔
Er.40	Encoder battery failure	✔	✔
Er.41	Motor (encoder) over temperature	✔	✔
Er.42	Encoder write failure	✔	✔
Er.60	ADC conversion is incomplete		✔
Er.61	Internal software fault		✔
Er.62	Internal software fault		✔
Er.63	Internal software fault		✔
Er.64	Internal software fault		✔
Er.65	Internal software fault		✔
A-81	Over speed alarm	✔
A-82	Overload	✔
A-83	Braking resistor is over temperature or overload	✔
A-84	Parameter modification that needs to be powered on again	✔
A-85	Receive position pulse when servo is OFF	✔
A-86	Input pulse frequency is too high	✔
A-88	Main circuit momentary is power off	✔
A-89	DI port configuration is duplicate	✔
A-90	DO port configuration is duplicate	✔
A-91	Parameter modification is too frequent	✔
A-92	low encoder battery voltage warning	✔
A-93	Encoder read and write check abnormal and frequency is too high	✔

Clearable: The panel can be stopped displaying the status by giving a "clear signal"

Stop immediately: The control action state stops immediately.

Wire

Wire model	Wire length	Wire exterior
P-Z3O1-R4M-3MX4	3m	Suitable for VD2A drive connecting 60/80 flange lead wire motor
P-Z3O1-R4M-5MX4	5m
P-Z3O1-R4M-10MX4	10m
P-U3O1-R4M-3MX4	3m	Suitable for VD2B drive connecting 80 flange lead wire motor
P-U3O1-R4M-5MX4	5m
P-U3O1-R4M-10MX4	10m

P-Z4-R4M-3MX4	3m	Suitable for VD2F drive connecting 40/60/80 flange lead wire motor
P-Z4-R4M-5MX4	5m
P-Z4-R4M-10MX4	10m
P-Z3O1-H28J4M-3MX4	3m	Suitable for VD2A drive connecting 110/130 flange lead wire motor
P-Z3O1-H28J4M-5MX4	5m
P-Z3O1-H28J4M-10MX4	10m
P-U3O1-H28J4M-3MX4	3m	Suitable for VD2B drive connecting 110/130 flange lead wire motor
P-U3O1-H28J4M-5MX4	5m
P-U3O1-H28J4M-10MX4	10m
P-Z4-H28J4M-3MX4	3m	Suitable for VD2F drive connecting 110/130 flange lead wire motor
P-Z4-H28J4M-5MX4	5m
P-Z4-H28J4M-10MX4	10m
P-Z3O1-MC4S-3MX4	3m	Suitable for VD2A drive connecting 60/80 flange lead wire motor
P-Z3O1-MC4S-5MX4	5m
P-Z3O1-MC4S-10MX4	10m
P-Z4-MC4S-3MX4	3m	Suitable for VD2F drive connecting 60/80 flange lead wire motor
P-Z4-MC4S-5MX4	5m
P-Z4-MC4S-10MX4	10m

Table 11-1 Servo motor power cable exterior diagram

Wire model	Wire length	Wire exterior
E-J1394-R9M-3MX5-A	3m	Suitable for VD2/VD2F drives connecting 40/60/80 flange lead wire motor (single-turn encoder)
E-J1394-R9M-5MX5-A	5m
E-J1394-R9M-10MX5-A	10m

E-J1394-R9M-3MX7-A1	3m	Suitable for VD2/VD2F drives connecting 40/60/80 flange lead wire motor (multi-turn encoder)
E-J1394-R9M-5MX7-A1	5m
E-J1394-R9M-10MX7-A1	10m
E-J1394-MC7S-3MX5-A	3m	Suitable for VD2/VD2F drives connecting 60/80 flange lead wire motor (single-turn encoder)
E-J1394-MC7S-5MX5-A	5m
E-J1394-MC7S-10MX5-A	10m
E-J1394-MC7S-3MX7-A1	3m	Suitable for VD2/VD2F drives connecting 60/80 flange lead wire motor (multi-turn encoder)
E-J1394-MC7S-5MX7-A1	5m
E-J1394-MC7S-10MX7-A1	10m
E-J1394-H28K7M-3MX5-A	3m	Suitable for VD2/VD2F drives connecting 110/130 flange lead wire motor (single-turn encoder)
E-J1394-H28K7M-5MX5-A	5m
E-J1394-H28K7M-10MX5-A	10m
E-J1394-H28K7M-3MX7-A1	3m	Suitable for VD2/VD2F drives connecting 110/130 flange lead wire motor (multi-turn encoder)
E-J1394-H28K7M-5MX7-A1	5m
E-J1394-H28K7M-10MX7-A1	10m

Table 11-2 Servo encoder power cable exterior diagram