P00-00 Motor code 9 0-65535 2000 Shutdown Setting Re power

0x0000

0 65535 The factory has been set up , no need to set up again. 0:P0-01 to P0-17 make sense 2000: absolute value encoder motor, P0-01- to P0-05 automatically identify by driver. FALSE 0 1 TRUE FALSE FALSE FALSE

P00-01 Rated speed of motor 3000 1-6000 0 rpm Shutdown Setting Re power

0x0001

1 6000 Set range: 1-6000, unit: RPM The factory has been set up no need set up again FALSE 0 1 TRUE FALSE FALSE FALSE

P00-02 Rated torque of motor 0 0.01-655.35 0 N.M Shutdown Setting Re power

0x0002

0.01 655.35 Setting range: 0.01-655.35, unit: N.M According to the motor Settings, the factory Setting has done FALSE 2 10 TRUE FALSE FALSE FALSE

P00-03 Rated current of motor 12.00 0.01-655.35 0 A Shutdown Setting Re power

0x0003

0.01 655.35 Setting range: 0.01-655.35, unit: N.M According to the motor Settings, the factory Setting has done FALSE 2 1 TRUE FALSE FALSE FALSE

P00-04 Motor moment of inertia 0.40 0.01-655.35 0 kg.cm² Shutdown Setting Re power

0x0004

0.01 655.35 Setting range: 0.01-655.35, unit:kg.cm² According to the motor Settings, the factory Setting has done FALSE 2 1 TRUE FALSE FALSE FALSE

P00-05 Pole number of motor 4 1-31 0 Opposite pole Shutdown Setting Re power

0x0005

1 31 Set range: 1-31, unit: opposite pole According to the motor Settings, the factory Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-06 Keep 0 0-65535 0 --- --- read only

0x0006

0 65535 --- FALSE 0 1 TRUE FALSE FALSE

P00-07 Encoder selection 0 0-3 0 --- Shutdown Setting Re power

0x0007

0 3 Set range: 0-3 0, 1: incremental encoder; 2: single loop absolute encoder; 3: multi circle absolute encoder FALSE 0 1 TRUE TRUE 0:Incremental encoder(0 or 1)#1:Incremental encoder(0 or 1)#2:Single loop absolute encoder#3:Multi circle absolute encoder 0#1#2#3

P00-08 Provincial line incremental encoder 0 0-1 0 --- Shutdown Setting Re power

0x0008

0 1 Set range: 0-1 0: non provincial line type 1: provincial line type FALSE 0 1 TRUE TRUE 0:Incremental encoder(0 or 1)#1:Incremental encoder(0 or 1)#2:Single loop absolute encoder#3:Multi circle absolute encoder 0#1#2#3

P00-09 Absolute encoder type 0 0-1 0 --- Shutdown Setting Re power

0x0009

0 1 Set range: 0-1 0: Tamagawa encoder 1: Nikon encoder FALSE 0 1 TRUE TRUE 0:Tamagawa encoder#1: Nikon encoder 0#1

P00-10 Incremental encoder number 1000 0-65535 0 Shutdown Setting Re power

0x000A

0 65535 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-11 Incremental encoder Z pulse electric angle 300 0-65535 0 Shutdown Setting Re power

0x000B

0 65535 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-12 Initial angle of rotor 1 150 0-360 0 1° Shutdown Setting Re power

0x000C

0 360 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-13 Initial angle of rotor 2 270 0-360 0 1° Shutdown Setting Re power

0x000D

0 360 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-14 Initial angle of rotor 3 210 0-360 0 1° Shutdown Setting Re power

0x000E

0 360 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-15 Initial angle of rotor 4 30 0-360 0 1° Shutdown Setting Re power

0x000F

0 360 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-16 Initial angle of rotor 5 90 0-360 0 1° Shutdown Setting Re power

0x0010

0 360 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-17 Initial angle of rotor 6 330 0-360 0 1° Shutdown Setting Re power

0x0011

0 360 According to the matched motor Settings, factroy Setting has done FALSE 0 1 TRUE FALSE FALSE FALSE

P00-18 Keep 0 0-65535 0 --- Shutdown Setting read only

0x0012

0 65535 --- FALSE 0 0 TRUE FALSE FALSE

P00-19 Keep 0 0-65535 0 --- --- read only

0x0013

0 65535 --- FALSE 0 0 TRUE FALSE FALSE

P00-20 Power on interface display Settings 100 0-100 100 --- Operation Setting Re power

0x0014

0 100 Set range: 0-100, default 100 According to customer display requirement Setting When Setting 100, the driver displays the running state when power is on. Other parameter Settings correspond to the serial number of the monitoring items list (the 8.3 cha FALSE 0 0 FALSE TRUE FALSE FALSE

P00-21 RS232 communication baud rate 2 0-3 0 --- Shutdown Setting Re power

0x0015

0 3 Set range: 0-3 Baud rate when selecting communication with PC 0:9600 1:19200 2:57600 3:115200 FALSE 0 0 TRUE FALSE 0：9600#1：19200#2：57600#3：115200 0#1#2#3

P00-22 Keep 0 0-65535 0 --- --- read only

0x0016

0 65535 --- FALSE 0 0 TRUE FALSE FALSE

P00-23 Slave address 1 0-255 1 -- Shutdown Setting Re power

0x0017

0 255 Set range: 0-255, default 1 Set up according to equipment requirement FALSE 0 0 TRUE FALSE FALSE FALSE

P00-24 Modbus communication baud rate 7 0-7 2 --- Shutdown Setting Re power

0x0018

0 7 Set range：0-7，default 2 0:2400 1:4800 2:9600 3:19200 4:38400 5:57600 6:115200 7:25600 FALSE 0 0 TRUE FALSE 0：2400#1：4800#2：9600#3：19200#4：38400#5：57600#6：115200#7：25600 0#1#2#3#4#5#6#7

P00-25 Check mode 1 0-3 1 --- Shutdown Setting Re power

0x0019

0 3 0: No check, 2 bit stop bit. 1: Parity check, 1 bit stop bit. 2: Odd check, 1 bit stop bit. 3: No check, 1 bit stop bit. FALSE 0 0 TRUE FALSE 0:No check, 2 bit stop bit.#1:Parity check, 1 bit stop bit.#2:Odd check, 1 bit stop bit.#3:No check, 1 bit stop bit. 0#1#2#3

P00-26 Modbus Communication response delay 29 0-100 0 1ms Operation Setting Re power

0x001A

0 100 --- FALSE 0 0 TRUE FALSE FALSE FALSE

P00-27 Keep 0 0-65535 0 --- --- ---

0x001B

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-28 Keep 0 0-65535 0 --- --- read only

0x001C

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-29 Modbus absolute encoder feedback format 29 0-1 1 --- Operation Setting Re power

0x001D

0 1 Setting_range: 0-1，default:1 0：Keep 1： default 2：compatible Chishu protocol（0x118 and 0x16E adder) Setting_range: 0-1，default:1 Read the absolute position value 84D/84E throungth 485 0:84D is a loop value,84E is a single loop value. 1:84E is a loop value,84D is a single loop value. FALSE 0 0 TRUE FALSE 0:84D is a loop value,84E is a single loop value.#1:84E is a loop value,84D is a single loop value. 0#1

P00-30 Brake resistor Setting 0 0-2 0 --- Shutdown Setting Re power

0x001E

0 2 Set range: 0-2 0: Using internal resistance 1: Using external resistors 2: Do not use brake resistor FALSE 0 0 TRUE TRUE 0:Using internal resistance#1:Using external resistors#2:Do not use brake resistor 0#1#2

P00-31 External braking resistor power 0 0-65536 0 10W Operation Setting Re power

0x001F

0 65536 Set range: 0-65535, unit 10W Do the correct Setting according to the external braking resistor, if the Setting value is 4, the resistance power is 40W FALSE 0 0 FALSE TRUE FALSE FALSE

P00-32 External brake resistor value 0 0-1000 0 1ohm Shutdown Setting Re power

0x0020

0 1000 Set range: 0-1000, ohm. Set correctly according to the external brake resistor. FALSE 0 0 TRUE TRUE FALSE FALSE

P00-33 Keep 0 0-65535 0 --- --- read only

0x0021

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-34 Keep 0 0-65535 0 --- --- ---

0x0022

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-35 Keep 0 0-65535 0 --- --- read only

0x0023

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-36 Keep 0 0-65535 0 --- --- read only

0x0024

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-37 Keep 0 0-65535 0 --- --- read only

0x0025

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-38 Keep 0 0-65535 0 --- --- ---

0x0026

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-39 Keep 0 0-65535 0 --- --- read only

0x0027

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P00-40 Over temperature protection Settings 41 0-3 1 1ohm Shutdown Setting Re power

0x0028

0 3 Setting_range: 0-3，default:1 0:Turn off over temperature protection function. 1:Use the module internal temperature sensor. 2:Use an external temperature sensor. 3:Automatically identify the temperature sensor. FALSE 0 0 TRUE FALSE 0:Turn off over temperature protection function.#1:Use the module internal temperature sensor.#2:Use an external temperature sensor.#3:Automatically identify the temperature sensor. 0#1#2#3

P00-41 Control power failure protection Settings 1 0-1 1 --- Shutdown Setting Re power

0x0029

0 1 Set range: 0-1 0: Turn off the power failure protection function of the control power supply. 1: Turn on the power failure protection function of the control power supply. FALSE 0 1 TRUE TRUE 0:Turn off the power failure protection function of the control power supply.#1:Turn on the power failure protection function of the control power supply. 0#1

P00-42 keep -

0x002A

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-43 keep -

0x002B

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-44 keep -

0x002C

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-45 keep -

0x002D

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-46 keep -

0x002E

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-47 keep -

0x002F

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-48 keep -

0x0030

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-49 keep -

0x0031

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-50 Dead time compensation enable 0 0-1 1 --- --- ---

0x0032

0 1 FALSE 0 10 TRUE FALSE FALSE FALSE

P00-51 Main power turn off monitoring enable 0 0-1 1 --- --- ---

0x0033

0 1 FALSE 0 10 FALSE FALSE FALSE FALSE

P00-52 Undervoltage alarm enable 0 0-1 1 --- --- ---

0x0034

0 1 FALSE 0 10 FALSE FALSE FALSE FALSE

P00-53 Lack of phase protection enable energy 0 0-1 0 --- --- ---

0x0035

0 1 FALSE 0 10 FALSE FALSE FALSE FALSE

P00-54 DC bus voltage compensation enable 0 0-1 0 --- --- ---

0x0036

0 1 FALSE 0 10 FALSE FALSE FALSE FALSE

P00-55 DC bus voltage compensation coefficient 0 0-32767 17300 --- --- ---

0x0037

0 32767 FALSE 0 10 FALSE FALSE FALSE FALSE

P00-56 Keep -

0x0038

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-57 Keep 0 0-1 0 --- --- ---

0x0039

0 1 FALSE 0 10 FALSE TRUE FALSE FALSE

P00-58 Keep -

0x003A

FALSE 0 10 FALSE TRUE FALSE FALSE

P00-59 Loading mode 1 0-1 1

0x003B

0 1 FALSE 0 10 TRUE FALSE FALSE FALSE

P00-60 PWM cycle 0 1-8092 4999 --- --- ---

0x003C

1 8092 FALSE 0 10 TRUE FALSE FALSE FALSE

P00-61 PWM loading mode 0 0-1 1 --- --- ---

0x003D

0 1 FALSE 0 10 TRUE FALSE FALSE FALSE

P00-62 Speed loop sampling frequency 0 1-8 2 --- --- ---

0x003E

1 8 FALSE 0 10 TRUE FALSE FALSE FALSE

P00-63 Sampling frequency of position loop 0 1-8 4 --- --- ---

0x003F

1 8 FALSE 0 10 TRUE FALSE FALSE FALSE

P01-00 Keep 0 0-65535 0 --- --- ---

0x0064

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-01 Control mode Setting 0 0-6 0 --- Shutdown Setting Effective Immediately

0x0065

0 6 Set range: 0-6 0: Position control mode 1: Speed control mode 2: Torque control mode 3: Speed and torque control mode. You need to use an external input port in CN1 for switching, and set the selected DI port input port function selection to 5 (control mode switching). Controlling the logical state of the port can switch the control mode. Terminal effective speed mode Terminal invalid torque mode 4: Position and speed control mode. You need to use an external input port in CN1 for switching, and set the selected DI port input port function selection to 5 (control mode switching). Controlling the logical state of the port can switch the control mode. Terminal effective position mode Terminal invalid speed mode 5: Position and torque control mode. You need to use an external input port in CN1 for switching, and set the selected DI port input port function selection to 5 (control mode switching). Controlling the logical state of the port can switch the control mode. Terminal effective position mode Terminal invalid torque mode 6: Full closed loop FALSE 0 0 TRUE FALSE 0:Position control mode#1:Speed control mode#2:Torque control mode#3:Speed and torque control mode#4:Position and speed control mode#5:Position and torque control mode#6:Full closed loop 0#1#2#3#4#5#6

P01-02 Real time automatic adjustment mode 0 0-3 1 --- operation Setting Effective Immediately

0x0066

0 3 Set range: 0-2 0: Manually adjust rigidity. 1: Standard mode automatically adjusts rigidity. In this mode, the parameters P02-00, P02-01, P02-10, P02-11, P02-13, P02-14, P08-20 will be set automatically according to the rigidity level set by P01-03, and manual adjustment of these parameters will not work. The following parameters are set by the user: P02-03 (speed feed forward gain), P02-04 (speed feed forward smoothing constant). 2: Positioning mode automatically adjusts rigidity. In this mode, the parameters P02-00, P02-01, P02-10, P02-11, P02-13, P02-14, P08-20 will be set automatically according to the rigidity level set by P01-03, and manual adjustment of these parameters will not work. The following parameters will be fixed values and cannot be changed. P02-03 (speed feed forward gain): 30% P02-04 (speed feed forward smoothing constant): 0.50 3: Automatically adjust the rigidity 2, in this mode, the parameters P02-00, P02-01, P02-10, P02-11, P02-13, will be set automatically according to the rigidity level set by P01-03, P08-20 will be set automatically according to the load inertia set by P01-04, P02-14 set value is 100, manual adjustment of these parameters will not work. The following parameters are set by the user: P02-03 (speed feed forward gain), P02-04 (speed feed forward smoothing constant). FALSE 0 0 FALSE FALSE 0:Manually adjust rigidit#1:Standard mode automatically adjusts rigidity.#2:Positioning mode automatically adjusts rigidity.#3:Automatically adjust the rigidity 2 0#1#2#3

P01-03 Real time automatic adjustment of rigidity Setting 13 0-31 13 --- operation Setting Effective Immediately

0x0067

0 31 Set range: 0-31 Built in 32 gain parameters, when P01-02 is set to 1, or 2 time to play a role. It can be called directly according to the actual situation. The greater the Setting value, the stronger the rigidity. FALSE 0 0 FALSE FALSE FALSE FALSE

P01-04 Moment of inertia ratio 1.30 0-100.00 3 1 times operation Setting Effective Immediately

0x0068

0 100.00 Set range: 0-100, unit: times. Setting the load inertia ratio of the corresponding motor, the Setting method is as follows: P01-04= load inertia / motor moment of inertia This inertia ratio can be used to write the parameters after the AF-J-L inertia value is recognized. FALSE 2 0 FALSE FALSE FALSE FALSE

P01-05 Keep 0 0-65535 0 --- --- read only

0x0069

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P01-06 Keep 0 0-65535 0 --- --- ---

0x006A

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P01-07 Keep 0 0-65535 0 --- --- read only

0x006B

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P01-08 Keep 0 0-65535 0 --- --- read only

0x006C

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P01-09 Keep 0 0-65535 0 --- --- read only

0x006D

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P01-10 Control mode after overshoot 1 0-1 1 --- operation Setting Effective Immediately

0x006E

0 1 Set range: 0-1 0: After the overpass, the motor is in free state, and only receives the reverse direction signal. 1: After the overpass, the motor is in the locked state, and only receives the reverse direction signal. FALSE 0 0 FALSE TRUE 0: After the overpass, the motor is in free state, and only receives the reverse direction signal.#1: After the overpass, the motor is in the locked state, and only receives the reverse direction signal. 0#1

P01-11 Keep 0 0-65535 0 --- --- read only

0x006F

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-12 Keep 0 0-65535 0 --- --- read only

0x0070

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-13 Keep 0 0-65535 0 --- --- read only

0x0071

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-14 Keep 0 0-65535 0 --- --- read only

0x0072

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-15 Keep 0 0-65535 0 --- --- read only

0x0073

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-16 Keep 0 0-65535 0 --- --- read only

0x0074

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-17 Keep 0 0-65535 0 --- --- read only

0x0075

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-18 Keep 0 0-65535 0 --- --- read only

0x0076

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-19 Keep 0 0-65535 0 --- --- read only

0x0077

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-20 Dynamic brake delay 50 0-250 50 1times operation Setting Effective Immediately

0x0078

0 250 Set range: 0-150, unit: ms Action delay time of dynamic brake is satisfied when braking condition is met. FALSE 0 0 FALSE TRUE FALSE FALSE

P01-21 No dynamic brake when main power is turned off. 1 0-1 1 --- operation Setting Effective Immediately

0x0079

0 1 Set range: 0-1 0: Using dynamic braking. 1: Turn off dynamic braking. FALSE 0 0 FALSE TRUE 0:Using dynamic braking.#1:Turn off dynamic braking. 0#1

P01-22 No dynamic brake when servo OFF is used 1 0-1 1 --- operation Setting Effective Immediately

0x007A

0 1 Set range: 0-1 0: Using dynamic braking. 1: Turn off dynamic braking. FALSE 0 0 FALSE TRUE 0:Using dynamic braking.#1:Turn off dynamic braking. 0#1

P01-23 No dynamic brake when alarming. 1 0-1 1 --- operation Setting Effective Immediately

0x007B

0 1 Set range: 0-1 0: Using dynamic braking. 1: Turn off dynamic braking. FALSE 0 0 FALSE TRUE 0:Using dynamic braking.#1:Turn off dynamic braking. 0#1

P01-24 No dynamic brake when override. 1 0-1 1 --- Effective Immediately

0x007C

0 1 Set range: 0-1 0: Using dynamic braking FALSE 0 0 FALSE TRUE 0:Using dynamic braking.#1:Turn off dynamic braking. 0#1

P01-25 Keep 0 0-65535 0 --- --- read only

0x007D

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-26 Keep 0 0-65535 0 --- --- read only

0x007E

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-27 Keep 0 0-65535 0 --- --- read only

0x007F

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-28 Keep 0 0-65535 0 --- --- read only

0x0080

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-29 Keep 0 0-65535 0 --- --- read only

0x0081

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-30 Clasp Brake command - servo OFF delay time (clasp brake opening delay) 100 0-255 50 1ms operation Setting Effective Immediately

0x0082

0 255 Set range: 0-255, unit: ms When enabled: After executing enabled instructions, after the P01-30 time, the driver will receive the position instructions. When the motor is in a static state, the time from the lock to the non-energized state after the switch-off command is executed. FALSE 0 0 FALSE FALSE FALSE FALSE

P01-31 Speed limit value of clasp brake command output 100 0-3000 100 1rpm operation Setting Effective Immediately

0x0083

0 3000 Set range: 0-3000, unit: RPM When the motor is in revolving state, the motor speed threshold of the brake output is effective. Under this threshold, the lock output instruction is valid, otherwise the lock output instruction will be valid after waiting for P01-32 time. FALSE 0 0 FALSE FALSE FALSE FALSE

P01-32 Servo OFF clasp brake command waiting time 135 0-255 50 1ms operation Setting Effective Immediately

0x0084

0 255 Set range: 0-255, unit: ms The longest waiting time of the brake output is when the motor is in rotation. FALSE 0 0 FALSE FALSE FALSE FALSE

P01-33 Keep 0 0-65535 0 --- --- read only

0x0085

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-34 Keep 0 0-65535 0 --- --- read only

0x0086

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-35 Z signal width setting 13.5 0-10000 0 MS operation Setting Effective Immediately

0x0087

0 10000 Setting_range: 0-10000, unit:0.1ms When set to 0,it is the default width. When there is a value, the Z signal width is in the set time. FALSE 1 0 FALSE FALSE FALSE FALSE

P01-36 Keep 0 0-65535 0 --- --- read only

0x0088

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-37 Keep 0 0-65535 0 --- --- read only

0x0089

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-38 Keep 0 0-65535 0 --- --- read only

0x008A

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-39 Keep 0 0-65535 0 --- --- read only

0x008B

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-40 Runaway detection enable 1 0-1 1 --- operation Setting Effective Immediately

0x008C

0 1 Prevent motor from runaway and abnormal rotation. 0:Turn off enablement 1:Turn off enablement FALSE 0 0 FALSE TRUE 0:Turn off enablement#1:Turn off enablement 0#1

P01-41 Keep -

0x008D

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-42 Keep -

0x008E

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-43 Keep -

0x008F

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-44 Keep -

0x0090

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-45 Keep -

0x0091

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-46 Keep -

0x0092

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-47 Keep -

0x0093

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-48 Keep -

0x0094

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-49 Keep -

0x0095

FALSE 0 0 FALSE TRUE FALSE FALSE

P01-50 Servo ON control source 1 0-1 1 --- --- ---

0x0096

0 1 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-51 Keep - --- --- ---

0x0097

--- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-52 Keep - --- --- ---

0x0098

--- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-53 Keep - --- --- ---

0x0099

--- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-54 Keep - --- --- ---

0x009A

--- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-55 Keep - --- --- ---

0x009B

--- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-56 Keep - --- --- ---

0x009C

--- FALSE 0 0 FALSE TRUE FALSE FALSE

P01-57 Overload protection threshold 703 0-65535 703 --- --- ---

0x009D

0 65535 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-58 D axis back EMF constant 0 0-65535 0 --- --- ---

0x009E

0 65535 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-59 Q axis back EMF constant 0 0-65535 0 --- --- ---

0x009F

0 65535 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-60 Encoder Z pulse enable 1 0-1 1 --- --- ---

0x00A0

0 1 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-61 Velocity pulse selection 0 0-1 0 --- --- ---

0x00A1

0 1 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-62 Edge selection for velocity pulses 0 0-3 0 --- --- ---

0x00A2

0 3 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-63 Inverting rotary encoder 1 0-1 1 --- --- ---

0x00A3

0 1 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-64 Polarity of Z pulse for rotary encoder 1 0-1 1 --- --- ---

0x00A4

0 1 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-65 Keep -

0x00A5

--- FALSE 0 10 TRUE TRUE FALSE FALSE

P01-66 Keep -

0x00A6

--- FALSE 0 10 TRUE TRUE FALSE FALSE

P01-67 Keep -

0x00A7

--- FALSE 0 10 TRUE TRUE FALSE FALSE

P01-68 Keep -

0x00A8

--- FALSE 0 10 TRUE TRUE FALSE FALSE

P01-69 Keep -

0x00A9

--- FALSE 0 10 TRUE TRUE FALSE FALSE

P01-70 Velocity filtering 1 0-3 1

0x00AA

0 3 --- FALSE 0 10 TRUE FALSE FALSE FALSE

P01-71 Keep

0x00AB

--- FALSE 0 10 TRUE TRUE FALSE FALSE

P02-00 Position control gain 1 650.0 0-3000.0 48.0 1/S operation Setting Effective Immediately

0x00C8

0 3000.0 Setting range: 0-3000.0, unit: 1/S The larger the parameter value, the higher the gain ratio, the greater the stiffness, the smaller the position tracking error and the faster the response. However, excessive vibration and overshoot can be caused by excessive parameters.This parameter is for steady state response. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-01 Position control gain 2 57.0 0-3000.0 57.0 1/S operation Setting Effective Immediately

0x00C9

0 3000.0 Setting range: 0-3000.0, unit: 1/S The bigger the proportional gain of the position loop regulator, the bigger the parameter value, the higher the gain ratio, the bigger the stiffness, the smaller the position tracking error, and the faster the response. However, excessive vibration and overshoot can be caused by excessive parameters. This parameter is for dynamic response. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-02 Keep 0 0-65535 0 --- --- Read only

0x00CA

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-03 Speed feed forward gain 100.0 0-100.0 30 0.01 operation Setting Effective Immediately

0x00CB

0 100.0 Set range: 0-100.0, unit 1% The feedforward gain of the speed loop, the larger the parameter value, the smaller the position tracking error of the system, and the faster the response. But the feedforward gain is too large, which makes the position loop of the system unstable and prone to overshoot and vibration. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-04 Speed feedforward smoothing constant 3.00 0-64.00 0.5 1ms operation Setting Effective Immediately

0x00CC

0 64.00 Setting range: 0-64.00, unit: ms This parameter is used to set the speed loop feed forward filter time constant. The larger the value, the larger the filtering effect, but the larger the phase lag. FALSE 2 0 FALSE FALSE FALSE FALSE

P02-05 Keep 0 0-65535 0 --- --- Read only

0x00CD

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-06 Keep 0 0-65535 0 --- --- Read only

0x00CE

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-07 Keep 0 0-65535 0 --- --- Read only

0x00CF

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-08 Keep 0 0-65535 0 --- --- Read only

0x00D0

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-09 Keep 0 0-65535 0 --- --- Read only

0x00D1

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-10 Speed proportional gain 1 50.0 1.0-2000.0 27 1Hz operation Setting Effective Immediately

0x00D2

1.0 2000.0 Setting range: 1.0-2000.0, unit: Hz The greater the proportional gain of speed, the greater the servo stiffness, the faster the speed response, but too large is easy to produce vibration and noise. If the system does not generate shocks, try to increase the parameter. This parameter is for static response. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-11 Velocity integral constant 1 20.0 0.1-1000.0 10 1ms operation Setting Effective Immediately

0x00D3

0.1 1000.0 Setting range: 1.0-1000.0, unit: ms The smaller the Setting value is, the faster the integrating speed is, the greater the stiffness is, and the smaller the Setting value is, the easier vibration and noise will be produced. When the system does not oscillate, try to reduce the value of this parameter. This parameter is for steady state response. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-12 Pseudo differential feedforward control coefficient 1 92.0 0-100.0 100 0.01 operation Setting Effective Immediately

0x00D4

0 100.0 Setting range: 0-100.0, unit: 1% When set to 100.0%, the speed loop adopts PI control, and the dynamic response is fast; when set to 0, the speed loop integral effect is obvious, which can filter low-frequency interference, but the dynamic response is slow. By adjusting this coefficient, the velocity loop can have better dynamic response and increase the resistance to low frequency interference. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-13 Speed proportional gain 2 27.0 1.0-2000.0 27 1Hz operation Setting Effective Immediately

0x00D5

1.0 2000.0 Setting range: 1.0-2000.0, unit: Hz The greater the proportional gain of speed, the greater the servo stiffness, the faster the speed response, but too large is easy to produce vibration and noise. When the system does not generate shocks, try to increase the parameter. This parameter is for dynamic response. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-14 Velocity integral constant 2 1000.0 0.1-1000.0 1000 1ms operation Setting Effective Immediately

0x00D6

0.1 1000.0 Setting range: 1.0-1000.0, unit: ms The smaller the Setting value is, the faster the integrating speed is, the greater the stiffness is, and the smaller the Setting value is, the easier vibration and noise will be produced. When the system does not oscillate, try to reduce the value of this parameter. This parameter is for dynamic response. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-15 Pseudo differential feedforward control coefficient 2 100.0 0-100.0 100 0.01 operation Setting Effective Immediately

0x00D7

0 100.0 Setting range: 0-100.0, unit: 1% When set to 100.0%, the speed loop adopts PI control, and the dynamic response is fast; when set to 0, the integral effect of the speed loop is obvious, which can filter low-frequency interference, but the dynamic response is slow. By adjusting this coefficient, the velocity loop can have better dynamic response and increase the resistance to low frequency interference. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-16 Velocity integral error limit amplitude 25000 0-32767 25000 --- Shutdown Setting Effective Immediately

0x00D8

0 32767 Set range: 0-32767 Speed integral error limit value FALSE 0 0 TRUE TRUE FALSE FALSE

P02-17 Keep 0 0-65535 0 --- --- Read only

0x00D9

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-18 Keep 0 0-65535 0 --- --- Read only

0x00DA

0 65535 --- FALSE 0 0 TRUE TRUE FALSE FALSE

P02-19 Torque feedforward gain 0 0-30000 0 0.01 operation Setting Effective Immediately

0x00DB

0 30000 Set range: 0-30000, unit: 1% Set the feedforward weighting value of the current loop. The parameter is weighted by the derivative of the speed instruction, and the current loop is added. FALSE 0 0 FALSE FALSE FALSE FALSE

P02-20 Torque feedforward smoothing constant 0.00 0-64.0 0.8 1ms operation Setting Effective Immediately

0x00DC

0 64.0 Setting range: 0-64.00, unit: ms This parameter is used to set the torque feedforward filter time constant. FALSE 2 0 FALSE FALSE FALSE FALSE

P02-21 Keep 0 0-65535 0 --- --- Read only

0x00DD

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-22 Keep 0 0-65535 0 --- --- Read only

0x00DE

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-23 Keep 0 0-65535 0 --- --- Read only

0x00DF

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-24 Keep 0 0-65535 0 --- --- Read only

0x00E0

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-25 Keep 0 0-65535 0 --- --- Read only

0x00E1

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-26 Keep 0 0-65535 0 --- --- Read only

0x00E2

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-27 Keep 0 0-65535 0 --- --- Read only

0x00E3

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-28 Keep 0 0-65535 0 --- --- Read only

0x00E4

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-29 Keep 0 0-65535 0 --- --- Read only

0x00E5

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-30 Gain switching mode 0 0-10 7 --- operation Setting Effective Immediately

0x00E6

0 10 Set range: 0-10 Setting the first and second gain switching conditions 0 fixed as the first gain P02-00, P02-10, P02-11, P02-12 1 fixed second gain P02-01, P02-13, P02-14, P02-15 2 Invalid DI port set to 9 (gain switching input) for DI input switching: First gain is valid: second gain 3 the torque command greater torque command is greater than the threshold (determined by P02-31 and P02-32) when switching to second gain. Less than the threshold, and at the same time exceeding the P02-33 delay Setting, switch to the first gain. 4. Switch to the second gain when the change of speed instruction is larger than the threshold (determined by P02-31 and P02-32). Less than the threshold, and at the same time exceeding the P02-33 delay Setting, switch to the first gain. 5 speed instruction, large speed instruction is greater than the threshold (determined by P02-31 and P02-32), switching to second gain. Less than the threshold, and at the same time exceeding the P02-33 delay Setting, switch to the first gain. 6 position deviation large position deviation greater than the threshold (determined by P02-31 and P02-32) switch to second gain. Less than the threshold, and at the same time exceeding the P02-33 delay Setting, switch to the first gain. 7 there is a location instruction that switches to second gain when there is position instruction. When the location instruction ends and the P02-33 delay is set, switch to the first gain. 8 switch to second gain when unfinished positioning is not completed. The location is completed, and at the same time, when the P02-33 delay Setting is exceeded, the switch is switched to the first gain. 9 the actual speed is greater than the threshold (determined by P02-31 and P02-32) when switching to second gain. Less than the threshold, and at the same time exceeding the P02-33 delay Setting, switch to the first gain. 10 there is a position command + a real speed switch with a position command to second gain. There is no position instruction and the actual speed is less than the threshold (determined by P02-31 and P02-32), and when the P02-33 delay Setting is exceeded, the switch to the first gain. FALSE 0 0 FALSE FALSE FALSE FALSE

P02-31 Gain switching level 800 0-20000 800 --- operation Setting Effective Immediately

0x00E7

0 20000 Set range: 0-20000 The threshold of gain switching is determined. Torque unit: 1000bit=25% rated torque Speed unit: 1000bit=200 turns to per minute. Location unit: 131072bit per lap. FALSE 0 0 FALSE FALSE FALSE FALSE

P02-32 Gain switching hysteresis 100 0-20000 100 --- operation Setting Effective Immediately

0x00E8

0 20000 Set range: 0-20000 Hysteresis level for gain switching Torque unit: 1000bit=25% rated torque Speed unit: 1000bit=200 turns to per minute. Location unit: 131072bit per lap. FALSE 0 0 FALSE FALSE FALSE FALSE

P02-33 Communication response delay 10.0 0-1000.0 10 1ms operation Setting Effective Immediately

0x00E9

0 1000.0 Setting range: 0-1000.0, unit: ms From the second gain to the first gain, the trigger condition is satisfied to the actual switching time. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-34 Position gain switching time 10.0 0-1000.0 10 1ms operation Setting Effective Immediately

0x00EA

0 1000.0 Setting range: 0-1000.0, unit: ms Position control gain 1 smooth switching to position control gain 2 time. FALSE 1 0 FALSE FALSE FALSE FALSE

P02-35 Keep 0 0-65535 0 --- --- Read only

0x00EB

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-36 Keep 0 0-65535 0 --- --- Read only

0x00EC

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-37 Keep 0 0-65535 0 --- --- Read only

0x00ED

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-38 Keep 0 0-65535 0 --- --- Read only

0x00EE

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-39 Keep 0 0-65535 0 --- --- Read only

0x00EF

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-40 Mode switch selection 0 0-4 0 --- operation Setting Effective Immediately

0x00F0

0 4 Set range: 0-4 Setting the speed loop PI control and P control conditions 0: Torque command torque command is less than P02-41 when Setting threshold is PI control, greater than P control. 1: Speed instruction speed command is less than P02-41 Setting threshold is PI control, greater than P control. 2: Acceleration acceleration is less than P02-41. When Setting threshold is PI control, greater than P control. 3: The position deviation of is less than P02-41. When Setting threshold, PI is the control, and P is the control. 4: No mode switch speed, environmental protection and PI control, no longer switching. FALSE 0 0 FALSE TRUE 0:Torque command#1:Speed command#2:Acceleration#3:Position deviation#4:No mode switch speed 0#1#2#3#4

P02-41 Mode switch level 10000 0-20000 10000 --- operation Setting Effective Immediately

0x00F1

0 20000 Set range: 0-20000 Set the threshold of switching. Torque unit: 1000bit=25% rated torque Speed unit: 1000bit=200 turns to per minute. Location unit: 131072bit per lap. FALSE 0 0 FALSE FALSE FALSE FALSE

P02-42 Keep 0 0-65535 0 --- --- Read only

0x00F2

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-43 Keep 0 0-65535 0 --- --- Read only

0x00F3

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-44 Keep 0 0-65535 0 --- --- Read only

0x00F4

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-45 Keep 0 0-65535 0 --- --- Read only

0x00F5

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-46 Keep 0 0-65535 0 --- --- Read only

0x00F6

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-47 Keep 0 0-65535 0 --- --- Read only

0x00F7

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-48 Keep 0 0-65535 0 --- --- Read only

0x00F8

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-49 Keep 0 0-65535 0 --- --- Read only

0x00F9

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P02-50 Torque command added value 0.0 -100.0-100.0 0 0.01 operation Setting Effective Immediately

0x00FA

-100.0 100.0 Setting range: -100.0-100, unit: 1% The position control mode is effective. This value is added to the torque Setting value for vertical shaft static torque compensation. TRUE 1 0 FALSE FALSE FALSE FALSE

P02-51 Forward torque compensation 0.0 -100.0-100.0 0 0.01 operation Setting Effective Immediately

0x00FB

-100.0 100.0 Setting range: -100.0-100.0, unit: 1% The position control mode is effective. Compensation for forward static friction TRUE 1 0 FALSE FALSE FALSE FALSE

P02-52 Reverse torque compensation 25.9 -100.0-100.0 0 0.01 operation Setting Effective Immediately

0x00FC

-100.0 100.0 Setting range: -100.0-100.0, unit: 1% The position control mode is effective. Compensation for reverse static friction TRUE 1 0 FALSE FALSE FALSE FALSE

P02-53 Keep -

0x00FD

0 FALSE TRUE FALSE FALSE

P02-54 Keep -

0x00FE

0 FALSE TRUE FALSE FALSE

P02-55 Keep -

0x00FF

0 FALSE TRUE FALSE FALSE

P02-56 Keep -

0x0100

0 FALSE TRUE FALSE FALSE

P02-57 Keep -

0x0101

0 FALSE TRUE FALSE FALSE

P02-58 Keep -

0x0102

0 FALSE TRUE FALSE FALSE

P02-59 Gain matching mode 259 0-1 0 --- operation Setting Effective Immediately

0x0103

0 1 Setting range:0-1 0:Compatible with V4.X,V5.X,V6.X and older versions. 1:New current loop version gain. FALSE 0 0 FALSE FALSE 0:Compatible with V4.X,V5.X,V6.X and older versions.#1:New current loop version gain. 0#1

P02-60 Integral error limit amplitude of current loop regulator 0 0-16383 0 --- --- ---

0x0104

0 16383 --- FALSE 0 10 FALSE FALSE FALSE FALSE

P02-61 Proportional gain of D axis current loop regulator 0 0-8888 0 --- --- ---

0x0105

0 8888 --- FALSE 0 10 FALSE FALSE FALSE FALSE

P02-62 Integral gain of D axis current loop regulator 0 0-8888 0 --- --- ---

0x0106

0 8888 --- FALSE 0 10 FALSE FALSE FALSE FALSE

P02-63 Proportional gain of Q axis current loop regulator 0 0-8888 0 --- --- ---

0x0107

0 8888 --- FALSE 0 10 FALSE FALSE FALSE FALSE

P02-64 Integral gain of Q axis current loop regulator 0 0-8888 0 --- --- ---

0x0108

0 8888 --- FALSE 0 10 FALSE FALSE FALSE FALSE

P03-00 Position command source 0 0-1 0 --- Shutdown Setting Effective Immediately

0x012C

0 1 0：Pulse command 1：Digital given when communication control. FALSE 0 0 TRUE FALSE 0:Pulse command#1:Digital given when communication control. 0#1

P03-01 Command pulse format 1 0-3 1 --- Shutdown Setting Effective Immediately

0x012D

0 3 0：Quadrature pulse instruction 1：Signal + pulse instruction 2 or 3：Double pulse instruction FALSE 0 0 TRUE TRUE 0:Quadrature pulse instruction#1:Signal + pulse instruction#2:Double pulse instruction(2 or 3)#3:Double pulse instruction(2 or 3) 0#1#2#3

P03-02 Command pulse input terminal 0 0-1 0 --- Shutdown Setting Effective Immediately

0x012E

0 1 Used to specify the pulse input port in the CN1 port 0:Low speed pulse interface 1:High speed pulse interface FALSE 0 0 TRUE TRUE 0:Low speed pulse interface#1:High speed pulse interface 0#1

P03-03 Instruction pulse inversion 0 0-1 0 --- Shutdown Setting Effective Immediately

0x012F

0 1 To adjust the counting direction of the pulse instruction 0：Normal. 1：Reverse direction FALSE 0 0 TRUE FALSE 0:Normal#1:Reverse direction 0#1

P03-04 Position pulse filtration 1 0-3 0 --- Operation Setting Effective Immediately

0x0130

0 3 Setting range：0-3，Unit：us 0：0.1us。 1：0.4us 2：0.8us。 3：1.6us FALSE 0 0 FALSE FALSE 0：0.1us#1：0.4us#2：0.8us#3：1.6us 0#1#2#3

P03-05 Location completion judgement condition 1 0-2 1 --- Operation Setting Effective Immediately

0x0131

0 2 0: Output when the position deviation is less than the P03-06 set value. 1: When the position is completed and the position deviation is less than P03-06, the output is set. 2: Output when the position is set to completed(after filtering) and the position deviation is less than the set value of P03-06. FALSE 0 0 FALSE FALSE 0:Output when the position deviation is less than the P03-06 set value.#1:When the position is completed and the position deviation is less than P03-06, the output is set.#2:Output when the position is set to completed(after filtering) and the position deviation is less than the set value of P03-06. 0#1#2

P03-06 Positioning complete(In-Position)range 90 0-65535 100 Encoder unit Operation Setting Effective Immediately

0x0132

0 65535 Set range： 0-65535，Unit：Encoder unit The threshold value used to set the location to complete the output 。When absolute motor is used, the encoder is calculated at 131072bit per loop. Using incremental encoder motor, the loop of encoders is calculated by encoder line *4. FALSE 0 0 FALSE FALSE FALSE FALSE

P03-07 Position feedback format 0 0-1 0 --- Shutdown Setting Effective Immediately

0x0133

0 1 Set range：0-1 0: Incremental format 1: Multi loop absolute value format FALSE 0 0 TRUE TRUE 0:Incremental format#1: Multi loop absolute value format 0#1

P03-08 Keep 0 0-65535 0 --- --- 只读

0x0134

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-09 The number of instruction pulses in the rotation of a motor 4000 0-65535 10000 Pulse Operation Setting Power-on again

0x0135

0 65535 Set range ： 0-65535 The absolute encoder motor is used to set the number of instructions pulse when a motor spin a circle .When it is set 0, the parameters of P03-10,P03-11 are valid FALSE 0 0 FALSE FALSE FALSE FALSE

P03-10 numerator of electronic gear1 1 1-65535 1 --- Operation Setting Power-on again

0x0136

1 65535 When using the absoluted encoder, see 6.1.3Example of electronic gear ratio calculation An incremental calculation formula for electrical gear ratio： G = numerator/denominator; = C*4/P C:Line of encoder ；P: Pulse No.Input per rotation number Eg：Encoder line is 2500； input pulse No.of per rotation 3200；what is the electrical gear ratio?： G= C*4/P = 2500 * 4/ 3200 = 10000/3200 = 25:8 Re：Numerator of 20B encoder is 131072 Numerator of 17Z encoder is160000 FALSE 0 0 FALSE FALSE FALSE FALSE

P03-11 Denominator of electronic gear 1 1 1-65535 1 --- Operation Setting Power-on again

0x0137

1 65535 When using the absoluted encoder, see 6.1.3Example of electronic gear ratio calculation An incremental calculation formula for electrical gear ratio： G = numerator/denominator; = C*4/P C:Line of encoder ；P:输入每转脉冲数 Pulse No.Input per rotation number Eg：Encoder line is 2500； input pulse No.of per rotation 3200；what is the electrical gear ratio?： G= C*4/P = 2500 * 4/ 3200 = 10000/3200 = 25:8 Re：Numerator of 20B encoder is 131072 Numerator of 17Z encoder is160000 FALSE 0 0 FALSE FALSE FALSE FALSE

P03-12 The number of electronic gear 1 is 16 bits high. 0 0-32767 0 --- Operation Setting Power-on again

0x0138

0 32767 Set range： 0-32767 The use of this parameter can amplify the electronic gear ratio：Numerator＝P03-12*10000+P03-10 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-13 Keep 0 0-65535 0 --- --- read only

0x0139

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-14 Keep 0 0-65535 0 --- --- read only

0x013A

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-15 Position deviation Setting is too large 2000 0-65535 30000 Command unit*10 Operation Setting Effective Immediately

0x013B

0 65535 Setting range： 0-65535，Unit：Command unit*10 Set the number of pulses allowed for deviation, and it will alarm if it exceeds the set value. Eg：Setting value is 20，When the followed deviation is more than 20*10.The driver will be alarmed AL.501（Position devitation is too large） FALSE 0 0 FALSE FALSE FALSE FALSE

P03-16 Time constant of Position command smoothing filter 34.3 0-1000.0 0 1ms Operation Setting Effective Immediately

0x013C

0 1000.0 Setting range： 1000，Unit：ms Setting the time constant of a position instruction smooth filter FALSE 1 0 FALSE FALSE FALSE FALSE

P03-17 Keep 0 0-65535 0 --- --- ---

0x013D

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-18 Keep 0 0- 0 --- --- ---

0x013E

0 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-19 Keep 0 0-65535 0 --- --- ---

0x013F

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-20 Position loop feedback source 0 0-1 0 --- Operation Setting Effective Immediately

0x0140

0 1 Set the source of position feedback 0:Encoder 1:Grating ruler FALSE 0 0 FALSE TRUE 0:Encoder#1:Grating ruler 0#1

P03-21 Keep 1 0-1 1 --- Shutdown Setting Effective Immediately

0x0141

0 1 Set whether the CN1 port has an encoder frequency division output 0：Close enable 1：Open enable FALSE 0 0 TRUE TRUE FALSE FALSE

P03-22 Numerator of Pulse output division of Incremental encoder 1 1-65535 1 --- Operation Setting Effective Immediately

0x0142

1 65535 When using the incremental encoder, set the number of output pulses of CN1 port . P03-23 need to less than or equal P03-22，Format： G= numerator/denominator; = (C*4)/(P*4) C:line of encoder P： Expected output A, B per rotation pulse number eg：Line of encoder is 2500， A,BPulse No. of Per Rotation when output is 500 G= (C*4)/(P*4)=(2500*4)/(500*4) = 5:1 FALSE 0 0 FALSE TRUE FALSE FALSE

P03-23 Denominator of Pulse output division of Incremental encoder 1 1-65535 1 --- Operation Setting Effective Immediately

0x0143

1 65535 FALSE 0 0 FALSE TRUE FALSE FALSE

P03-24 Keep 0 0-65535 0 --- --- read only

0x0144

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-25 Output pulse No.of one revolution of the Absolute Encoder 2500 0-60000 2500 --- Operation Setting Effective Immediately

0x0145

0 60000 Setting range：0-60000 Set the output No.of frequncy A pulse and Frequncy B pulse ,When the aboluted . Eg：Setting value is 2048，it means when the motor works a loop, the signal A and signal B will output 2048pcs Pulses FALSE 0 0 FALSE TRUE FALSE FALSE

P03-26 Keep 0 0-65535 0 --- --- read only

0x0146

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-27 Keep 0 0-65535 0 --- --- read only

0x0147

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-28 Keep 0 0-65535 0 --- --- read only

0x0148

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-29 Keep 0 0-65535 0 --- --- read only

0x0149

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-30 Linear encoder phase setup 0 0-1 0 --- Operation Setting Effective Immediately

0x014A

0 1 Check whether the input A,B phase of grating rules is Opposite or not 0:Right 1:Opposite FALSE 0 0 TRUE TRUE 0:Right#1:Opposite 0#1

P03-31 Polarity of Z pulse in linear encoder 1 0-1 1 --- Operation Setting Effective Immediately

0x014B

0 1 Set effective electrical level of the input Z signal for grating rule. 0: Low electrical level 1: High electrical level FALSE 0 0 TRUE TRUE 0:Low electrical level#1:High electrical level 0#1

P03-32 Keep 0 0-65535 0 --- --- read only

0x014C

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-33 Keep 0 0-65535 0 --- --- read only

0x014D

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-34 Keep 0 0-65535 0 --- --- read only

0x014E

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-35 Keep 0 0-65535 0 --- --- read only

0x014F

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-36 Keep 0 0-65535 0 --- --- read only

0x0150

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-37 Keep 0 0-65535 0 --- --- read only

0x0151

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-38 Keep 0 0-65535 0 --- --- read only

0x0152

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-39 Keep 0 0-65535 0 --- --- read only

0x0153

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-40 Source of output pulse 340 0-3 1 --- Shutdown Setting Effective Immediately

0x0154

0 3 Set the source of frequency division output signal in cN1 terminal 0: Pulse output, alarm not output 1: Motor output 2: Pulse output 3: Grating ruler FALSE 0 0 TRUE FALSE 0: Pulse output, alarm not output#1: Motor output#2: Pulse output#3: Grating ruler 0#1#2#3

P03-41 AB signal output inverting 341 0-1 0 --- Shutdown Setting Effective Immediately

0x0155

0 1 Setting range:0-1,default:0. 0: No inversion 1: Reverse FALSE 0 0 TRUE FALSE 0: No inversion#1: Reverse 0#1

P03-42 Polarity of output Z pulse 342 0-1 1 --- Shutdown Setting Effective Immediately

0x0156

0 1 Setting the CN1 terminal divider output signal Z signal effective level. 0: low electronic level 1: high electronic level FALSE 0 0 TRUE FALSE 0:low electronic level#1:High electronic level 0#1

P03-43 Pulse signal edge selection 343 0-1 0 --- Operation Setting Effective Immediately

0x0157

0 1 Setting range:0-1,default:0. 0:Rising edge 1:Falling edge FALSE 0 0 FALSE FALSE 0:Rising edge#1:Falling edge 0#1

P03-44 Keep 0 0-65535 0 --- --- read only

0x0158

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-45 Digital location instruction cache mode 0 0-1 0 --- Shutdown Setting Effective Immediately

0x0159

0 1 Setting range： 0-1 0:No caching (operate immediately) 1:cache (finish the last data then do the new data) FALSE 0 0 TRUE TRUE 0:No caching (operate immediately)#1:Cache (finish the last data then do the new data) 0#1

P03-46 The Max RMP of motor when in Digital position operation 1000 0-6000 1000 --- Operation Setting Effective Immediately

0x015A

0 6000 Setting range：0-6000 Set the motor's maximum speed when in the digital position command situation FALSE 0 0 FALSE TRUE FALSE FALSE

P03-47 Keep 0 0-65535 0 --- --- read only

0x015B

0 65535 --- FALSE 0 0 TRUE FALSE FALSE

P03-48 Keep 0 0-65535 0 --- --- read only

0x015C

0 65535 --- FALSE 0 0 TRUE FALSE FALSE

P03-49 Keep 0 0-65535 0 --- --- read only

0x015D

0 65535 --- FALSE 0 0 TRUE FALSE FALSE

P03-50 Biaxial sysnchronization Functional enabling 0 0-1 0 --- Shutdown Setting Effective Immediately

0x015E

0 1 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-51 Biaxial sysnchronization function input signal inversion 0 0-1 0 --- Shutdown Setting Effective Immediately

0x015F

0 1 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-52 Biaxial sysnchronizationOne cycle feedback pulse number of function motor 10000 0-65535 10000 --- Shutdown Setting Effective Immediately

0x0160

0 65535 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-53 Biaxial sysnchronization function position deviation is too large 10000 0-65535 10000 --- Operation Setting Effective Immediately

0x0161

0 65535 FALSE 0 0 FALSE TRUE FALSE FALSE

P03-54 Keep 0 0-65535 0 --- --- read only

0x0162

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-55 Biaxial sysnchronization same moving position proportional gain 10 0-200 10 --- Operation Setting Effective Immediately

0x0163

0 200 FALSE 0 0 FALSE TRUE FALSE FALSE

P03-56 Keep 0 0-65535 0 --- --- read only

0x0164

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-57 Keep 0 0-65535 0 --- --- read only

0x0165

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-58 Keep 0 0-65535 0 --- --- read only

0x0166

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-59 Keep 0 0-65535 0 --- --- read only

0x0167

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-60 Origin back Ena control 0 0-6 0 --- Operation Setting Effective Immediately

0x0168

0 6 FALSE 0 0 FALSE TRUE FALSE FALSE

P03-61 Origin regression model 0 0-9 0 --- Operation Setting Effective Immediately

0x0169

0 9 FALSE 0 0 FALSE TRUE FALSE FALSE

P03-62 Keep 0 0-65535 0 --- --- read only

0x016A

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-63 Keep 0 0-65535 0 --- --- read only

0x016B

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-64 Keep 0 0-65535 0 --- --- read only

0x016C

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P03-65 Speed when search for original switch-high speed 100 0-3000 100 --- Operation Setting Effective Immediately

0x016D

0 3000 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-66 Speed of when search for original switch-low speed 10 0-1000 10 --- Operation Setting Effective Immediately

0x016E

0 1000 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-67 Search origin switch acceleration and deceleration time 0 0-5000 0 --- Operation Setting Effective Immediately

0x016F

0 5000 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-68 The longest time limit for searching the origin 0 0-10000 0 --- Operation Setting Effective Immediately

0x0170

0 10000 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-69 Mechanical origin offset H 0 0-65535 0 --- Operation Setting Effective Immediately

0x0171

0 65535 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-70 Mechanical origin offset L 1000 0-65535 1000 --- Operation Setting Effective Immediately

0x0172

0 65535 FALSE 0 0 TRUE TRUE FALSE FALSE

P03-71 Keep 0 0-65535 0 --- --- ---

0x0173

0 65535 FALSE 0 10 FALSE TRUE FALSE FALSE

P03-72 Keep 0 0-65535 0 --- --- ---

0x0174

0 65535 FALSE 0 10 FALSE TRUE FALSE FALSE

P03-73 Keep 0 0-65535 0 --- --- ---

0x0175

0 65535 FALSE 0 10 FALSE TRUE FALSE FALSE

P03-74 Keep 0 0-65535 0 --- --- ---

0x0176

0 65535 FALSE 0 10 FALSE TRUE FALSE FALSE

P04-00 Source of rotational speed 1 0-3 0 --- Shutdown Setting Effective Immediately

0x0190

0 3 0：External analog instruction 1: Digital command (parameters) 2: Digital instruction(communication) 3: Internal multiple sets of instructions FALSE 0 0 TRUE FALSE 0：External analog instruction#1：Digital command (parameters)#2：Digital instruction(communication)#3：Internal multiple sets of instructions 0#1#2#3

P04-01 Speed analog command inverting 0 0-1 0 --- Shutdown Setting Effective Immediately

0x0191

0 1 adjusting the polarity relations of analog quantities 0: Normal 1: Polarity reversal FALSE 0 0 TRUE FALSE 0:Normal#1:Polarity reversal 0#1

P04-02 Digital speed command value 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x0192

-6000 6000 Setting range：-6000－6000，Unit：rpmWhen P04-00 is set to 1, P04-02 is the Setting value of speed control. TRUE 0 0 FALSE FALSE FALSE FALSE

P04-03 Speed zero-clamp function setup 0 0-1 0 --- Operation Setting Effective Immediately

0x0193

0 1 0: No position clamping function 1: It has position clamping function When in the speed control mode,if meets the following conditions, it enters the lock-in mode. A：P04-03 set as 1 B：Speed instruction absolute value is less than P04-04 Setting threshold. C：The function of the external input port is set to 10 (zero position) and is in the valid state of input. FALSE 0 0 FALSE TRUE 0:No position clamping function#1:It has position clamping function 0#1

P04-04 Zero speed position clamping speed threshold 30 0-6000 30 1rpm Operation Setting Effective Immediately

0x0194

0 6000 Setting ragne ：0-6000，Unit：rpm Set the speed instruction threshold for triggering zero speed position clamping function. FALSE 0 0 FALSE TRUE FALSE FALSE

P04-05 Over-speed alarm value 6400 0-6500 6400 1rpm Operation Setting Effective Immediately

0x0195

0 6500 Setting range ：0-6500，Unit：rpm Set the maximum allowed speed , exceeding the set value AL.420 overspeed alarm. FALSE 0 0 FALSE FALSE FALSE FALSE

P04-06 Positive speed limit value 5000 0-6000 5000 1rpm Operation Setting Effective Immediately

0x0196

0 6000 Setting range：0-6000，Unit：rpm Limit the positive speed of the motor. FALSE 0 0 FALSE FALSE FALSE FALSE

P04-07 Negative speed limit value -5000 -6000-0 -5000 1rpm Operation Setting Effective Immediately

0x0197

-6000 0 Setting range：0- -6000，Unit：rpm Limiting motor reverse speed TRUE 0 0 FALSE FALSE FALSE FALSE

P04-08 Keep 0 0-65535 0 --- --- ---

0x0198

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-09 keep 0 0-65535 0 --- --- ---

0x0199

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-10 Zero-speed 40 0-200 2 1rpm Operation Setting Effective Immediately

0x019A

0 200 Set range：0-200.0，Unit：rpm Setting the zero speed detection threshold value, if motor speed below the threshold can output "motor zero speed output" signal through the output port FALSE 0 0 FALSE FALSE FALSE FALSE

P04-11 Rotation detection value 30 0-200 30 1rpm Operation Setting Effective Immediately

0x019B

0 200 Set range：0-200.0，Unit：rpm Set motor rotation detection threshold, if motor speed is higher than the value can be displayed through the LED panel. FALSE 0 0 FALSE TRUE FALSE FALSE

P04-12 Speed uniform range 30 0-200 30 1rpm Operation Setting Effective Immediately

0x019C

0 200 Set range：0-200.0，Unit：rpm Setting the threshold value of the speed consistent signal, when the difference between the motor speed and the command speed is within the threshold value, the "speed consistent output" signal can be output through the output port. FALSE 0 0 FALSE TRUE FALSE FALSE

P04-13 Keep 0 0-65535 0 --- --- ---

0x019D

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-14 Acceleration time setup 500 0-10000 0 1ms/1000rpm Operation Setting Effective Immediately

0x019E

0 10000 Set range：0-10000，Unit：1ms/1000rpm Setting the acceleration of speed control FALSE 0 0 FALSE FALSE FALSE FALSE

P04-15 Deceleration time setup 505 0-10000 0 Operation Setting Effective Immediately

0x019F

0 10000 Set range：0-10000，Unit：1ms/1000rpm Setting deceleration in controlling speed FALSE 0 0 FALSE FALSE FALSE FALSE

P04-16 keep 0 0-65535 0 --- --- read only

0x01A0

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-17 keep 0 0-65535 0 --- --- read only

0x01A1

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-18 Keep 0 0-65535 0 --- --- read only

0x01A2

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-19 Keep 0 0-65535 0 --- --- read only

0x01A3

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-20 Keep 0 0-65535 0 --- --- read only

0x01A4

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-21 Keep 0 0-65535 0 --- --- read only

0x01A5

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-22 Keep 0 0-65535 0 --- --- read only

0x01A6

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-23 Keep 0 0-65535 0 --- --- read only

0x01A7

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-24 Keep 0 0-65535 0 --- --- read only

0x01A8

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-25 Keep 0 0-65535 0 --- --- read only

0x01A9

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-26 Keep 0 0-65535 0 --- --- read only

0x01AA

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-27 Keep 0 0-65535 0 --- --- read only

0x01AB

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-28 Keep 0 0-65535 0 --- --- read only

0x01AC

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-29 Keep 0 0-65535 0 --- --- read only

0x01AD

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P04-30 Internal Setting speed 1 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01AE

-6000 6000 Set range：-6000—6000，Unit：rpm Parameters P04-30 to P04-37 respectively set internal speed 1 to internal speed 8 speed. The internal speed switching method is as follows: When in the speed loop control mode, P04-00 is set at 3. The corresponding input ports are defined as 13, 14, 15. The switching of internal speed is achieved by Setting the input port function to 13, 14, 15 on-off state combination. The switching relationship is shown in the below table DI13 DI14 DI15 Action parameters 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-31 Internal Setting speed 2 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01AF

-6000 6000 Set range：-6000—6000，Unit：rpm Parameters P04-30 to P04-37 respectively set internal speed 1 to internal speed 8 speed. The internal speed switching method is as follows: When in the speed loop control mode, P04-00 is set at 3. The corresponding input ports are defined as 13, 14, 15. The switching of internal speed is achieved by Setting the input port function to 13, 14, 15 on-off state combination. The switching relationship is shown in the below table DI13 DI14 DI15 作用参数 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-32 Internal Setting speed 3 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01B0

-6000 6000 设定范围：-6000—6000，单位：rpm Parameters P04-30 to P04-37 respectively set internal speed 1 to internal speed 8 speed. The internal speed switching method is as follows: When in the speed loop control mode, P04-00 is set at 3. The corresponding input ports are defined as 13, 14, 15. The switching of internal speed is achieved by Setting the input port function to 13, 14, 15 on-off state combination. The switching relationship is shown in the below table DI13 DI14 DI15 作用参数 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-33 Internal Setting speed 4 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01B1

-6000 6000 Set range ：-6000—6000，Unit：rpm Parameters P04-30 to P04-37 respectively set internal speed 1 to internal speed 8 speed. The internal speed switching method is as follows: When in the speed loop control mode, P04-00 is set at 3. The corresponding input ports are defined as 13, 14, 15. The switching of internal speed is achieved by Setting the input port function to 13, 14, 15 on-off state combination. The switching relationship is shown in the below table DI13 DI14 DI15 Action parameters 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-34 Internal Setting speed 5 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01B2

-6000 6000 Set range：-6000—6000，Unit：rpm 参数P04-30至P04-37分别设定内部转速1到内部转速8的转速内部转速切换实现方法如下: 当速度环控制时，P04-00设3，相应的输入端口功能定义为13、14、15 内部转速的切换是通过输入端口功能设定为13、14、15通断状态组合来实现内部转速的切换，切换关系如下表所示 DI13 DI14 DI15 作用参数 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-35 Internal Setting speed 6 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01B3

-6000 6000 Set range ：-6000—6000，Unit：rpm Parameters P04-30 to P04-37 respectively set internal speed 1 to internal speed 8 speed. The internal speed switching method is as follows: When in the speed loop control mode, P04-00 is set at 3. The corresponding input ports are defined as 13, 14, 15. The switching of internal speed is achieved by Setting the input port function to 13, 14, 15 on-off state combination. The switching relationship is shown in the below table DI13 DI14 DI15 作用参数 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-36 Internal Setting speed 7 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01B4

P04-37 Internal Setting speed 8 0 -6000-6000 0 1rpm Operation Setting Effective Immediately

0x01B5

-6000 6000 Set range：-6000—6000，Unit：rpm Parameters P04-30 to P04-37 respectively set internal speed 1 to internal speed 8 speed. The internal speed switching method is as follows: When in the speed loop control mode, P04-00 is set at 3. The corresponding input ports are defined as 13, 14, 15. The switching of internal speed is achieved by Setting the input port function to 13, 14, 15 on-off state combination. The switching relationship is shown in the below table DI13 DI14 DI15 作用参数 0 0 0 P04-30 1 0 0 P04-31 0 1 0 P04-32 1 1 0 P04-33 0 0 1 P04-34 1 0 1 P04-35 0 1 1 P04-36 1 1 1 P04-37 TRUE 0 0 FALSE TRUE FALSE FALSE

P04-38 Keep 0 -

0x01B6

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-39 Keep 0 -

0x01B7

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-40 Keep 0 -

0x01B8

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-41 Keep 0 -

0x01B9

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-42 Keep 0 -

0x01BA

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-43 Keep 0 -

0x01BB

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-44 Keep 0 -

0x01BC

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-45 Keep 0 -

0x01BD

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-46 Keep 0 -

0x01BE

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-47 Keep 0 -

0x01BF

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-48 Keep 0 -

0x01C0

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-49 Keep 0 -

0x01C1

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-50 Keep 0 -

0x01C2

FALSE 0 0 FALSE TRUE FALSE FALSE

P04-51 Motor zero speed detection delay 0 0-100 0 --- --- ---

0x01C3

0 100 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P04-52 Instruction pulse zero speed detection delay 0 0-100 0 --- --- ---

0x01C4

0 100 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P04-53 Internal speed measurement comparison and switching threshold 0 0-32767 0 --- --- ---

0x01C5

0 32767 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P05-00 Torque command source 0 0-3 0 --- Shutdown Setting Effective Immediately

0x01F4

0 3 0: External analog instruction (speed limit amplitude set by P05-02) 1: Digital instruction (speed limit amplitude set by P05-02) 2: External analog instruction (speed limit amplitude determined by speed analog instruction) 3: Digital instruction (speed limit amplitude determined by speed analog instruction) FALSE 0 0 TRUE TRUE 0:External analog instruction (speed limit amplitude set by P05-02)#1:Digital instruction (speed limit amplitude set by P05-02)#2:External analog instruction (speed limit amplitude determined by speed analog instruction)#3:Digital instruction (speed limit amplitude determined by speed analog instruction) 0#1#2#3

P05-01 Torque command analog quantity inverse 0 0-1 0 --- Shutdown Setting Effective Immediately

0x01F5

0 1 Used to adjust torque direction 0: normal 1: direction reversal FALSE 0 0 TRUE TRUE 0:Normal#1:Reverse direction 0#1

P05-02 Torque mode speed limiter set value 1500 0-6000 1500 1rpm Operation Setting Effective Immediately

0x01F6

0 6000 Set range: 0- maximum speed, unit: RPM Setting the maximum speed of motor in torque mode to prevent mechanical damage caused by high speed of motor in no-load condition Torque control mode effective TRUE 0 0 FALSE TRUE FALSE FALSE

P05-03 Digital torque value 50.3 -300.0-300.0 0 1.0% Operate Setting Effective Immediately

0x01F7

-300.0 300.0 Setting range: - 300 － 300, unit:% When p05-00 is set to 1, p05-03 gives the initial value of digital torque. TRUE 1 0 FALSE FALSE FALSE FALSE

P05-04 Keep 0 0-65535 0 --- --- ---

0x01F8

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P05-05 Torque limiting Setting source 505 0-2 0 --- Shutdown Setting Effective Immediatelyly

0x01F9

0 2 Source for adjusting torque limit amplitude 0: Internal digital quantity (set by p05-10, p05-11 or p05-12, p05-13) 1: External analog quantity (given by external analog quantity input t-ref. in this mode, the limiting amplitude in the positive and negative directions is the same) 2: Torque limiting is limited by parameter p05-03 FALSE 0 0 TRUE FALSE 0: Internal digital quantity (set by p05-10, p05-11 or p05-12, p05-13)#1: External analog quantity (given by external analog quantity input t-ref. in this mode, the limiting amplitude in the positive and negative directions is the same)#2: Torque limiting is limited by parameter p05-03 0#1#2

P05-06 Torque limit detection output delay 0 0-10000 0 ms Operation Setting Effective Immediately

0x01FA

0 10000 Set range: 0-10000, unit: ms Set DO port output torque limit to detect delay time of output signal. FALSE 0 0 FALSE TRUE FALSE FALSE

P05-07 keep 0 0-65535 0 --- --- read only

0x01FB

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P05-08 keep 0 0-65535 0 --- --- read only

0x01FC

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P05-09 keep 0 0-65535 0 --- --- read only

0x01FD

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P05-10 Internal forward torque limiting amplitude 200.0 0-300.0 200.0 Operation Setting Effective Immediately

0x01FE

0 300.0 Setting range: 0-300.0, unit: 1% Limit the positive output of motor, 100 indicates 1 times torque, 300 indicates 3 times torque. When the torque output reaches the limit value, the output signal can be detected through the output torque limit of the DO port. FALSE 1 0 FALSE FALSE FALSE FALSE

P05-11 Internal reverse torque limiting amplitude -200.0 -300.0-0 -200.0 Operation Setting Effective Immediately

0x01FF

-300.0 0 Setting range: 0-300.0, unit: 1% Limit motor reverse output, 100 represents 1 times torque, 300 indicates 3 times torque. When the torque output reaches the limit value, the output signal can be detected through the output torque limit of the DO port. TRUE 1 0 FALSE FALSE FALSE FALSE

P05-12 External positive torque limiting amplitude 100.0 0-300.0 100.0 Operation Setting Effective Immediately

0x0200

0 300.0 Setting range: 0-300.0, unit: 1% This function needs to be switched using an external input port in CN1, and the selected DI port input port function selection is set to 7 (forward side external torque limit). Controlling the logical state of the port can switch the control mode. Terminal logic torque limit amplitude Effective external limiting amplitude P05-12 Invalid internal limiting amplitude P05-10 If the DI function is not allocated, the default torque limit of the system is P05-10. When the torque output reaches the limit value, the output signal can be detected through the output torque limit of the DO port. FALSE 1 0 FALSE TRUE FALSE FALSE

P05-13 External reverse torque limit amplitude -100.0 -300.0-0 -100.0 Operation Setting Effective Immediately

0x0201

-300.0 0 Setting range: 0-300.0, unit: 1% This function needs to be switched using an external input port in CN1, and the selected DI port input port function selection is set to 8 (Reverse Side External Torque Limit). Controlling the logical state of the port can switch the control mode. Terminal logic torque limit amplitude Effective external limiting amplitude P05-13 Invalid internal limiting amplitude P05-11 If the DI function is not allocated, the default torque limit of the system is P05-11. When the torque output reaches the limit value, the output signal can be detected through the output torque limit of the DO port. Report errors TRUE 1 0 FALSE TRUE FALSE FALSE

P05-14 Keep -

0x0202

0 TRUE FALSE FALSE

P05-15 Keep -

0x0203

0 TRUE FALSE FALSE

P05-16 Keep -

0x0204

0 TRUE FALSE FALSE

P05-17 Keep -

0x0205

0 TRUE FALSE FALSE

P05-18 Keep -

0x0206

0 TRUE FALSE FALSE

P05-19 Keep -

0x0207

0 TRUE FALSE FALSE

P05-20 Keep -

0x0208

0 TRUE FALSE FALSE

P05-21 Keep -

0x0209

0 TRUE FALSE FALSE

P05-22 Keep -

0x020A

0 TRUE FALSE FALSE

P05-23 Keep -

0x020B

0 TRUE FALSE FALSE

P05-24 Keep -

0x020C

0 TRUE FALSE FALSE

P05-25 Keep -

0x020D

0 TRUE FALSE FALSE

P05-26 Keep -

0x020E

0 TRUE FALSE FALSE

P05-27 Keep -

0x020F

0 TRUE FALSE FALSE

P05-28 Keep -

0x0210

0 TRUE FALSE FALSE

P05-29 Keep -

0x0211

0 TRUE FALSE FALSE

P05-30 U phase current offset 0 -512-512 0 --- --- ---

0x0212

-512 512 --- TRUE 0 10 FALSE TRUE FALSE FALSE

P05-31 W Phase current offset 0 -512-512 0 --- --- ---

0x0213

-512 512 --- TRUE 0 10 FALSE TRUE FALSE FALSE

P06-00 DI1 input port effective electrical level 1 0-4 0 --- Operation Setting REpower

0x0258

0 4 Set range: 0-4, factory Settings: 0 Set the valid input of the DI1 input port of CN1. 0: Low level active (optical coupler) 1: Stands for high level efficiency (optocoupler cut-off) 2: Rising edge effective 3: Falling edge effective 4: Rising and falling edge are all effective. FALSE 0 0 FALSE FALSE 0:Low level active (optical coupler)#1:Stands for high level efficiency (optocoupler cut-off)#2:Rising edge effective#3:Falling edge effective#4:Rising and falling edge are all effective. 0#1#2#3#4

P06-01 DI1 input port function selection (servo ON) 1 0-24 1 --- Operation Setting REpower

0x0259

0 24 Set range: 0-24, factory Settings: 1 Set the function of CN1's DI1 input port. 0: Pins invalid 1: Servo ON 2: Alarm clearance 3: Forward overshoot signal input 4: Reverse overshoot signal input 5: Control mode switching 6: P action instruction input 7: Positive external torque limitation. 8: Reverse side torque limit 9: Gain switching input 10: Zero position fixed input 11: Instruction pulse prohibit input 12: Encoder absolute value data input 13: Internal Setting speed switching input 1 14: Internal Setting speed switching input 2 15: Internal Setting speed switching input 3 16: Location command zero input 17: Magnetic pole detection input 18: Instruction pulse input multiplying switching input 19: Longmen mobile enabling 20: Longmen counterpoint zero clearing signal 21: Origin switch signal 22: Origin return to start signal 23: Speed analog command direction input 24: Torque analog instruction direction input FALSE 0 0 FALSE TRUE 0:Pins invalid#1:Servo ON#2:Alarm clearance#3:Forward overshoot signal input#4:Reverse overshoot signal input#5:Control mode switching#6:P action instruction input#7:Positive external torque limitation#8:Reverse side torque limit#9:Gain switching input#10:Zero position fixed input#11:Instruction pulse prohibit input#12:Encoder absolute value data input#13:Internal setting speed switching input 1#14:Internal setting speed switching input 2#15:Internal setting speed switching input 3#16:Location command zero input#17:Magnetic pole detection input#18:Instruction pulse input multiplying switching input#19:Longmen mobile enabling#20:Longmen counterpoint zero clearing signal#21:Origin switch signal#22:Origin return to start signal#23:Speed analog command direction input#24:Torque analog instruction direction input 0#1#2#3#4#5#6#7#8#9#10#11#12#13#14#15#16#17#18#19#20#21#22#23#24

P06-02 Effective level of DI2 input port 0 0-4 0 --- Operation Setting REpower

0x025A

0 4 Set range: 0-4, factory Settings: 0 Set the valid input of the DI1 input port of CN1. 0: low level active (optical coupler). 1: stands for high level efficiency (optocoupler cut-off). 2: rising edge effective 3: falling edge effective 4: rising and falling edge are all effective. FALSE 0 0 FALSE TRUE 0:Low level active (optical coupler)#1:Stands for high level efficiency (optocoupler cut-off)#2:Rising edge effective#3:Falling edge effective#4:Rising and falling edge are all effective. 0#1#2#3#4

P06-03 DI2 input port function selection (alarm clear) 2 0-24 2 --- Operation Setting REpower

0x025B

P06-04 Effective level of DI3 input port 0 0-4 0 --- Operation Setting REpower

0x025C

P06-05 Function selection of DI3 input port (forward overshoot) 3 0-24 3 --- Operation Setting REpower

0x025D

P06-06 DI4 input port effective level 0 0-4 0 --- Operation Setting REpower

0x025E

0 4 Set range: 0-4, factory Settings: 0 Set the valid input of the DI1 input port of CN1. 0: Low level active (optical coupler). 1: Stands for high level efficiency (optocoupler cut-off). 2: Rising edge effective 3: Falling edge effective 4: Rising and falling edge are all effective. FALSE 0 0 FALSE TRUE 0:Low level active (optical coupler)#1:Stands for high level efficiency (optocoupler cut-off)#2:Rising edge effective#3:Falling edge effective#4:Rising and falling edge are all effective. 0#1#2#3#4

P06-07 DI4 input port function selection (reverse overrun) 4 0-24 4 --- Operation Setting REpower

0x025F

P06-08 DI5 input port effective level 0 0-4 0 --- Operation Setting REpower

0x0260

P06-09 DI5 input port function selection (positive external torque limit) 7 0-24 7 --- Operation Setting REpower

0x0261

P06-10 DI6 input port effective level 0 0-4 0 --- Operation Setting REpower

0x0262

P06-11 DI6 input port function selection (reverse side external torque limit) 8 0-24 8 --- Operation Setting REpower

0x0263

0 24 Set range: 0-18, factory Settings: 1 Set the function of CN1's DI1 input port. 0: Pins invalid 1: Servo ON 2: Alarm clearance 3: Forward overshoot signal input 4: Reverse overshoot signal input 5: Control mode switching 6: P action instruction input 7: Positive external torque limitation. 8: Reverse side torque limit 9: Gain switching input 10: Zero position fixed input 11: Instruction pulse prohibit input 12: Encoder absolute value data input 13: Internal Setting speed switching input 1 14: Internal Setting speed switching input 2 15: Internal Setting speed switching input 3 16: Location command zero input 17: Magnetic pole detection input 18: Instruction pulse input multiplying switching input 19: Longmen mobile enabling 20: Longmen counterpoint zero clearing signal 21: Origin switch signal 22: Origin return to start signal 23: Speed analog command direction input 24: Torque analog instruction direction input FALSE 0 0 FALSE TRUE 0:Pins invalid#1:Servo ON#2:Alarm clearance#3:Forward overshoot signal input#4:Reverse overshoot signal input#5:Control mode switching#6:P action instruction input#7:Positive external torque limitation#8:Reverse side torque limit#9:Gain switching input#10:Zero position fixed input#11:Instruction pulse prohibit input#12:Encoder absolute value data input#13:Internal setting speed switching input 1#14:Internal setting speed switching input 2#15:Internal setting speed switching input 3#16:Location command zero input#17:Magnetic pole detection input#18:Instruction pulse input multiplying switching input#19:Longmen mobile enabling#20:Longmen counterpoint zero clearing signal#21:Origin switch signal#22:Origin return to start signal#23:Speed analog command direction input#24:Torque analog instruction direction input 0#1#2#3#4#5#6#7#8#9#10#11#12#13#14#15#16#17#18#19#20#21#22#23#24

P06-12 DI7 input port effective level 0 0-4 0 --- Operation Setting REpower

0x0264

P06-13 DI7 input port function selection (control mode switching) 5 0-24 5 --- Operation Setting REpower

0x0265

P06-14 Keep 0 0-65535 0 --- --- 只读

0x0266

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-15 Keep 0 0-65535 0 --- --- 只读

0x0267

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-16 Effective level of DI8 input port 0 0-4 0 --- Operation Setting REpower

0x0268

P06-17 Function selection of DI8 input port 16 0-24 16 --- Operation Setting REpower

0x0269

P06-18 Keep 0 0-65535 0 --- --- read only

0x026A

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-19 Keep 0 0-65535 0 --- --- read only

0x026B

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-20 DO1 output port effective level 1 0-1 1 --- Operation Setting REpower

0x026C

0 1 Set range: 0-1, factory Settings: 1 0: When the state is valid, optocoupler cut-off. 1: When the state is valid, the optical coupler turns on. FALSE 0 0 FALSE FALSE 0: When the state is valid, optocoupler cut-off.#1: When the state is valid, the optical coupler turns on. 0#1

P06-21 DO1 output port function selection (servo ready) 3 0-13 3 --- Operation Setting REpower

0x026D

0 13 Set range: 0-13, factory Settings: 3 0: Pins invalid 1: Alarm output 2: Brake opening output 3: Servo ready output 4: Positioning and output 5: Positioning close to output 6: Speed consistent output 7: Motor zero speed output 8: Torque limit detection output 9: Speed limit detection output 10: Warning output 11: Instruction pulse input rate switching output 12: origin regression completes output 13: Electrical origin regression completes output FALSE 0 0 FALSE TRUE 0:Pins invalid#1:Alarm output#2:Brake opening output#3:Servo ready output#4:Positioning and output#5:Positioning close to output#6:Speed consistent output#7:Motor zero speed output#8:Torque limit detection output#9:Speed limit detection output#10:Warning output#11:Instruction pulse input rate switching output#12:origin regression completes output#13:Electrical origin regression completes output 0#1#2#3#4#5#6#7#8#9#10#11#12#13

P06-22 DO2 output port effective level 0 0-1 1 --- Operation Setting REpower

0x026E

P06-23 Function selection of DO2 output port (brand-type brake open) 2 0-13 2 --- Operation Setting REpower

0x026F

0 13 Set range: 0-13, factory Settings: 3 0: Pins invalid 1: Alarm output 2: Brake opening output 3: Servo ready output 4: Positioning and output 5: Positioning close to output 6: Speed consistent output 7: Motor zero speed output 8: Torque limit detection output 9: Speed limit detection output 10: Warning output 11: Instruction pulse input rate switching output 12: origin regression completes output 13: Electrical origin regression completes output FALSE 0 0 FALSE FALSE 0:Pins invalid#1:Alarm output#2:Brake opening output#3:Servo ready output#4:Positioning and output#5:Positioning close to output#6:Speed consistent output#7:Motor zero speed output#8:Torque limit detection output#9:Speed limit detection output#10:Warning output#11:Instruction pulse input rate switching output#12:origin regression completes output#13:Electrical origin regression completes output 0#1#2#3#4#5#6#7#8#9#10#11#12#13

P06-24 DO3 output port effective level 1 0-1 1 --- Operation Setting REpower

0x0270

0 1 Set range: 0-1, factory Settings: 1 0: When the state is valid, optocoupler cut-off. 1: When the state is valid, the optical coupler turns on. FALSE 0 0 FALSE TRUE 0: When the state is valid, optocoupler cut-off.#1: When the state is valid, the optical coupler turns on. 0#1

P06-25 DO3 output port function selection (alarm output) 1 0-13 1 --- Operation Setting REpower

0x0271

P06-26 DO4 output port effective level 1 0-1 1 --- Operation Setting REpower

0x0272

P06-27 DO4 output port function selection (location complete) 4 0-13 4 --- Operation Setting REpower

0x0273

P06-28 DO5 output port effective level 1 0-1 1 --- Operation Setting REpower

0x0274

P06-29 DO5 output port function selection (torque limit detection) 8 0-13 8 --- Operation Setting REpower

0x0275

P06-30 read only 0 0-65535 0 --- --- read only

0x0276

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-31 read only 0 0-65535 0 --- --- read only

0x0277

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-32 read only 0 0-65535 0 --- --- read only

0x0278

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-33 read only 0 0-65535 0 --- --- read only

0x0279

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-34 read only 0 0-65535 0 --- --- read only

0x027A

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-35 read only 0 0-65535 0 --- --- read only

0x027B

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-36 read only 0 0-65535 0 --- --- read only

0x027C

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-37 read only 0 0-65535 0 --- --- read only

0x027D

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-38 read only 0 0-65535 0 --- --- read only

0x027E

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-39 read only 0 0-65535 0 --- --- read only

0x027F

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P06-40 Speed analog command input gain 300 10-2000 300 1rpm/V Operation Setting Effective Immediately

0x0280

10 2000 Set range: 10-2000, unit 1rpm/V Set the coefficients between analog input and speed control instructions for CN1 input. Example: 500 represents 500 revolutions per minute for each V. FALSE 0 0 FALSE TRUE FALSE FALSE

P06-41 Speed simulation command filtering constant 0.8 0-64.00 0.8 1ms Operation Setting Effective Immediately

0x0281

0 64.00 Set range: 0 to 6. 4, unit: ms Set the analog instruction filter time coefficient of CN1 input. FALSE 2 0 FALSE TRUE FALSE FALSE

P06-42 Speed analog instruction offset 0 -10.000-10.000 0 1V Operation Setting Effective Immediately

0x0282

-10.000 10.000 Set range: - 10 000 - 10 000, unit V Set the zero offset of analog input for CN1 input. TRUE 3 0 FALSE TRUE FALSE FALSE

P06-43 Torque analog command gain 10 0.0-100.0 10 % Operation Setting Effective Immediately

0x0283

0.0 100.0 Set range: 0 to 100. 0, unit 1% Set the coefficients between analog input and speed control instructions for CN1 input. For example: 30 represents 30% rated torque per V. FALSE 1 0 FALSE TRUE FALSE FALSE

P06-44 Torque analog instruction filter constant 0.8 0-64.00 0.8 1ms Operation Setting Effective Immediately

0x0284

0 64.00 Set range: 0 to 6. 4, unit: ms Set the analog instruction filter time coefficient of CN1 input. FALSE 2 0 FALSE TRUE FALSE FALSE

P06-45 Torque analog instruction offset 0 -10.000-10.000 0 1V Operation Setting Effective Immediately

0x0285

-10.000 10.000 Set range: - 10 000 - 10 000, unit V Set the zero offset of analog input for CN1 input. TRUE 3 0 FALSE TRUE FALSE FALSE

P06-46 Speed simulation instruction dead zone 0 0-10.000 0 1V Operation Setting Effective Immediately

0x0286

0 10.000 Set range: 0 to 10 000, unit V Set the dead-time voltage of the speed analog command, and the system defaults to zero when the analog is given in the range of positive and negative values. FALSE 3 0 FALSE TRUE FALSE FALSE

P06-47 Torque analog instruction dead zone 0 0-10.000 0 1V Operation Setting Effective Immediately

0x0287

0 10.000 Set range: 0 to 10 000, unit V Setting the dead-time voltage of the torque analog command, the system defaults to zero when the analog is given within the range of positive and negative values. FALSE 3 0 FALSE TRUE FALSE FALSE

P08-00 Keep 0 0-65535 0 --- --- ---

0x0320

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-01 Load rotation convention recognition mode 0 0-1 0 --- Operation Setting Effective Immediately

0x0321

0 1 Set range: 0-1 0:Effective 1:Invalid FALSE 0 0 FALSE TRUE 0:Effective#1:Invalid 0#1

P08-02 Inertia identification maximum speed 800 100-2000 800 1rpm Operation Setting Effective Immediately

0x0322

100 2000 Set range: 100-2000, unit: RPM When the off-line inertia is identified, the maximum speed of the motor is obtained. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-03 Inertia identification acceleration and deceleration time 100 20-800 100 1ms Operation Setting Effective Immediately

0x0323

20 800 Set range: 20-800, unit: ms When the off-line inertia is identified, the acceleration and deceleration time of the motor FALSE 0 0 FALSE TRUE FALSE FALSE

P08-04 Waiting time after completion of single inertia identification 1000 50-10000 1000 1ms Operation Setting Effective Immediately

0x0324

50 10000 Set range: 50-10000, unit: ms When off-line inertia is identified, waiting time after completion of single inertia identification is completed. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-05 The number of motor turns required to complete single inertia. 1.33 0-655.35 1.33 Circle Operation Setting read only

0x0325

0 655.35 This parameter is the number of turning circles automatically generated according to the Setting conditions of P08-02, P08-03 and P08-04. FALSE 2 0 FALSE TRUE FALSE FALSE

P08-06 Keep 0 0-65535 0 --- --- read only

0x0326

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-07 Keep 0 0-65535 0 --- --- read only

0x0327

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-08 Keep 0 0-65535 0 --- --- read only

0x0328

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-09 Keep 0 0-65535 0 --- --- read only

0x0329

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-10 Keep 0 0-65535 0 --- --- read only

0x032A

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-11 Adaptive notch filter mode selection 0 0-4 0 --- Operation Setting Effective Immediately

0x032B

0 4 Set range: 0-4 Set range: 0-4 Third, fourth notch filter parameters are no longer automatically updated, save as the current value. But allow manual input. 1:1 adaptive notch filter is effective. Third notch filter parameters can be updated automatical FALSE 0 0 FALSE TRUE FALSE FALSE

P08-12 Keep 0 0-65535 0 --- --- read only

0x032C

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-13 Adaptive notch filter vibration detection threshold 4 1-7 4 --- Operation Setting Effective Immediately

0x032D

1 7 This parameter sets the sensitivity of adaptive notch filter to detect vibration. The smaller the parameter, the more sensitive the sensitivity is. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-14 Keep 0 0-65535 0 --- --- read only

0x032E

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-15 Keep 0 0-65535 0 --- --- read only

0x032F

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-16 Keep 0 0-65535 0 --- --- read only

0x0330

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-17 Keep 0 0-65535 0 --- --- read only

0x0331

0 65535 --- FALSE 1 0 FALSE TRUE FALSE FALSE

P08-18 Keep 0 0-65535 0 --- --- read only

0x0332

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-19 Feedback speed lowpass filter constant 0.00 0-25.00 0.8 1ms Operation Setting Effective Immediately

0x0333

0 25.00 --- FALSE 2 0 FALSE FALSE FALSE FALSE

P08-20 Torque command filtering constant 1.20 0-25.00 0.8 1ms Operation Setting Effective Immediately

0x0334

0 25.00 Setting range: 0-25.00, unit: ms Torque command filter time constant. When the motor starts screaming, it can be set up appropriately. FALSE 2 0 FALSE FALSE FALSE FALSE

P08-21 Keep 0 0-65535 0 --- --- read only

0x0335

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-22 Keep 0 0-65535 0 --- --- read only

0x0336

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-23 Keep 0 0-65535 0 --- --- read only

0x0337

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-24 Keep 0 0-65535 0 --- --- read only

0x0338

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-25 Disturbance torque compensation gain 0.0 0-100.0 0 ％ Operation Setting Effective Immediately

0x0339

0 100.0 Setting range: 0-100.0 The disturbance torque observation is worth the gain coefficient. The greater the value, the stronger the ability to resist disturbance torque, but the action noise may also increase. FALSE 1 0 FALSE FALSE FALSE FALSE

P08-26 Disturbance torque filtering time constant 0.80 0-25.0 0.8 1ms Operation Setting Effective Immediately

0x033A

0 25.0 Setting range: 0-25.00, unit: ms The larger the numerical value, the stronger the filtering effect and suppressing the action noise. However, excessive phase leads to phase delay, which affects the effect of disturbance torque suppression. FALSE 2 0 FALSE FALSE FALSE FALSE

P08-27 Keep 0 0-65535 0 --- --- read only

0x033B

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-28 Keep 0 0-65535 0 --- --- read only

0x033C

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-29 Keep 0 0-65535 0 --- --- read only

0x033D

0 65535 --- FALSE 0 0 FALSE TRUE FALSE FALSE

P08-30 Notch filter 1 frequency 5000 50-5000 5000 HZ Operation Setting Effective Immediately

0x033E

50 5000 Set range: 50-5000, unit: Hz Central frequency of notch filter 1 The notch filter is invalid when set to 5000. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-31 Notch filter 1 width 2 0-20 2 --- Operation Setting Effective Immediately

0x033F

0 20 Set range: 0-20 Notch width rating of notch filter 1 Ratio of width to center frequency FALSE 0 0 FALSE TRUE FALSE FALSE

P08-32 Notch filter 1 depth 0 0-99 0 --- Operation Setting Effective Immediately

0x0340

0 99 Set range: 0-99 Notch depth level of notch filter 1 The ratio relationship between the input and output of the notch center frequency. The larger the parameter, the smaller the notch depth and the weaker the effect. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-33 Notch filter 2 frequency 5000 50-5000 5000 HZ Operation Setting Effective Immediately

0x0341

50 5000 Set range: 50-5000, unit: Hz Central frequency of notch filter 1 The notch filter is invalid when set to 5000. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-34 Notch filter 2 width 2 0-20 2 --- Operation Setting Effective Immediately

0x0342

0 20 Set range: 0-20 Notch width rating of notch filter 1 Ratio of width to center frequency FALSE 0 0 FALSE TRUE FALSE FALSE

P08-35 Notch filter 2 depth 0 0-99 0 --- Operation Setting Effective Immediately

0x0343

P08-36 Notch filter 3 frequency 5000 50-5000 5000 HZ Operation Setting Effective Immediately

0x0344

50 5000 Set range: 50-5000, unit: Hz Central frequency of notch filter 1 The notch filter is invalid when set to 5000. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-37 Notch filter 3 width 2 0-20 2 --- Operation Setting Effective Immediately

0x0345

0 20 Set range: 0-20 Notch width rating of notch filter 1 Ratio of width to center frequency FALSE 0 0 FALSE TRUE FALSE FALSE

P08-38 Notch filter 3 depth 0 0-99 0 --- Operation Setting Effective Immediately

0x0346

P08-39 Notch filter 4 frequency 5000 50-5000 5000 HZ Operation Setting Effective Immediately

0x0347

50 5000 Set range: 50-5000, unit: Hz Central frequency of notch filter 1 The notch filter is invalid when set to 5000. FALSE 0 0 FALSE TRUE FALSE FALSE

P08-40 Notch filter 4 width 2 0-20 2 --- Operation Setting Effective Immediately

0x0348

0 20 Set range: 0-20 Notch width rating of notch filter 1 Ratio of width to center frequency FALSE 0 0 FALSE TRUE FALSE FALSE

P08-41 Notch filter 4 depth 0 0-99 0 --- Operation Setting Effective Immediately

0x0349

P10-00 Keep 0 0-65535 0 --- --- ---

0x03E8

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-01 Keep 0 0-65535 0 --- --- ---

0x03E9

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-02 Keep 0 0-65535 0 --- --- ---

0x03EA

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-03 Keep 0 0-65535 0 --- --- ---

0x03EB

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-04 Keep 0 0-65535 0 --- --- ---

0x03EC

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-05 Keep 0 0-65535 0 --- --- ---

0x03ED

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-06 Keep 0 0-65535 0 --- --- ---

0x03EE

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-07 Keep 0 0-65535 0 --- --- ---

0x03EF

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-08 Keep 0 0-65535 0 --- --- ---

0x03F0

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-09 Keep 0 0-65535 0 --- --- ---

0x03F1

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-10 Keep 0 0-65535 0 --- --- ---

0x03F2

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-11 Keep 0 0-65535 0 --- --- ---

0x03F3

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-12 Keep 0 0-65535 0 --- --- ---

0x03F4

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-13 Keep 0 0-65535 0 --- --- ---

0x03F5

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-14 Keep 0 0-65535 0 --- --- ---

0x03F6

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-15 Keep 0 0-65535 0 --- --- ---

0x03F7

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-16 Keep 0 0-65535 0 --- --- ---

0x03F8

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-17 Keep 0 0-65535 0 --- --- ---

0x03F9

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-18 Servo model 0 0-10 0 --- --- ---

0x03FA

0 10 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-19 Keep 0 0-65535 0 --- --- ---

0x03FB

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-20 Total performance period lower 16 0 0-65535 0 --- --- ---

0x03FC

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-21 Total performance period up 16 0 0-65535 0 --- --- ---

0x03FD

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-22 0perating authorization 0 0-65535 0 --- --- ---

0x03FE

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-23 Parameter version 0 0-65535 0 --- --- ---

0x03FF

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-24 Keep 0 0-65535 0 --- --- ---

0x0400

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-25 Keep 0 0-65535 0 --- --- ---

0x0401

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-26 Keep 0 0-65535 0 --- --- ---

0x0402

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-27 Keep 0 0-65535 0 --- --- ---

0x0403

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-28 Keep 0 0-65535 0 --- --- ---

0x0404

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-29 Keep 0 0-65535 0 --- --- ---

0x0405

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE

P10-30 Keep 0 0-65535 0 --- --- ---

0x0406

0 65535 --- FALSE 0 10 FALSE TRUE FALSE FALSE