<root><ParameterInfo Address="45791"><Remark>Please refer to Chapter 9 in user manual for more details on error codes. </Remark></ParameterInfo><ParameterInfo Address="45793"><Remark>To setr control from slave station(Servo drive)command, move PDS status, etc

Bit	Label			Description
0	Start			1 - valid, 0 - invalid
1	Main circuit power on	1 - valid, 0 - invalid
2	Quick stop		0 - valid,1 - invalid
3	Servo running		1 - valid, 0 - invalid
4-6	Running mode related	Related to each servo running mode
7	Fault reset		Reset resettable fault alarm. 
				Rising edge of Bit7 is valid, bit7 remains at 1, and all other instructions are invalid
8	Pause			For more information on how to pause in each mode, refer to Object Dictionary 605Dh
9	No definition		Undefined
10	Reserved 			Undefined
11-15	Reserved 			Undefined
</Remark></ParameterInfo><ParameterInfo Address="45795"><Remark>Servo drive status

Bit	Label			Description
0	Servo ready		1 - valid, 0 - invalid
1	Start			1 - valid, 0 - invalid
2	Servo running		1 - valid, 0 - invalid
3	Fault			1 - valid, 0 - invalid
4	Main circuit power on	1 - valid, 0 - invalid
5	Quick stop		0- valid, 1 - invalid
6	Servo cannot run		1 - valid, 0 - invalid
7	Warning			1 - valid, 0 - invalid
8	Reserved			Reserved
9	Remote control		1 - valid, 0 - invalid
10	Arrived at position		1 - valid, 0 - invalid
11	Internal limit valid		1 - valid, 0 - invalid
12-13	Mode related		Related to each servo operation mode
14	Reserved			Reserved	
15	Origin found		1 - valid, 0 - invalid
</Remark></ParameterInfo><ParameterInfo Address="45797"><Remark>Motor stops when quick stop command is given. 
 
PP, CSP, CSV, PV
0  ：To stop motor through Pr5.06. Status: Switch on disable, axis disabled. 
1  ：Motor decelerates and stops through 6084h. Status: Switch on disable, axis disabled.
2  ：Motor decelerates and stops through 6085h. Status: Switch on disable, axis disabled.
3  ：Motor decelerates and stops through 60C6h. Status: Switch on disable, axis disabled.
5  ：Motor decelerates and stops through 6084h. Status: Quick stop
6  ：Motor decelerates and stops through 6085h. Status: Quick stop
7  ：Motor decelerates and stops through 60C6h. Status: Quick stop
HM
0  ：To stop motor through Pr5.06. Status: Switch on disable, axis disabled. 
1  ：Motor decelerates and stops through 609Ah. Status: Switch on disable, axis disabled.
2  ：Motor decelerates and stops through 6085h. Status: Switch on disable, axis disabled.
3  ：Motor decelerates and stops through 60C6h. Status: Switch on disable, axis disabled.
5  ：Motor decelerates and stops through 609Ah. Status: Quick stop
6  ：Motor decelerates and stops through 6085h. Status: Quick stop
7  ：Motor decelerates and stops through 60C6h. Status: Quick stop
CST, PT
0  ：To stop motor through Pr5.06. Status: Switch on disable, axis disabled.
1, 2 ：Motor decelerates and stops through 6087h. Status: Switch on disable, axis disabled.
3  ：Motor decelerates and stops through torque = 0. Status: Switch on disable, axis disabled.
5, 6 ：Motor decelerates and stops through 6087h. Status: Quick stop
7  ：Motor decelerates and stops through torque = 0. Status: Quick stop
</Remark></ParameterInfo><ParameterInfo Address="45799"><Remark>PP, CSP, CSV, PV
0  ：To stop motor through Pr5.06, Pr5.06 = 0(Emergency stop), Pr5.06=1(Free stop)
1  ：Motor decelerates and stops through 6084h
HM
0  ：To stop motor through Pr5.06, Pr5.06 = 0(Emergency stop), Pr5.06=1(Free stop)
1  ：Motor decelerates and stops through 609Ah
CST, PT
0  ：To stop motor through Pr5.06, Pr5.06 = 0(Emergency stop), Pr5.06=1(Free stop)
1  ：Motor decelerates and stops through 6087h
</Remark></ParameterInfo><ParameterInfo Address="45801"><Remark>PP, CSP, CSV, PV
0  ：To stop motor through Pr5.06, Pr5.06 = 0(Emergency stop), Pr5.06=1(Free stop)
1  ：Motor decelerates and stops through 6084h
HM
0  ：To stop motor through Pr5.06, Pr5.06 = 0(Emergency stop), Pr5.06=1(Free stop)
1  ：Motor decelerates and stops through 609Ah
CST, PT
0  ：To stop motor through Pr5.06, Pr5.06 = 0(Emergency stop), Pr5.06=1(Free stop)
1  ：Motor decelerates and stops through 6087h
</Remark></ParameterInfo><ParameterInfo Address="45803"><Remark>For deceleration mode settings during mode switching
PP, CSP, CSV, PV
1  ：Motor decelerates and stops through 6084h. Status: Operation enabled, axis enabled.
2  ：Motor decelerates and stops through 6085h. Status: Operation enabled, axis enabled.
3  ：Motor decelerates and stops through 60C6h. Status: Operation enabled, axis enabled.
HM
1  ：Motor decelerates and stops through 609Ah. Status: Operation enabled, axis enabled.
2  ：Motor decelerates and stops through 6085h. Status: Operation enabled, axis enabled.
3  ：Motor decelerates and stops through 60C6h. Status: Operation enabled, axis enabled.
CST, PT
1, 2 ：Motor decelerates and stops through 6087h. Status: Operation enabled, axis enabled.
3  ：Motor decelerates and stops through torque = 0. Status: Operation enabled, axis enabled
</Remark></ParameterInfo><ParameterInfo Address="45805"><Remark>Select stopping mode when servo alarm (Err 8xx) occurs.

PP, CSP, CSV, PV
0  ：Select motor stopping mode according to alarm properties. Status: Fault, axis disabled.
1  ：Motor decelerates and stops through 6084h. Status: Fault, axis disabled.
2  ：Motor decelerates and stops through 6085h. Status: Fault, axis disabled.
HM
0  ：Select motor stop by the alarm attribute for emergency stop, the fault state and disable
1  ：After the 609Ah motor is decelerated and stopped,, the fault state and disable
2  ：After the 6085h motor is decelerated and stopped, the fault state and disable
CST, PT
0, 1 ：Select motor stop by the alarm attribute for emergency stop, the fault state and disable
2  ：After the 6087 motor is decelerated and stopped, the fault state and disable
When other alarms, i.e. drive-side alarms:
Select motor stop by the alarm attribute for emergency stop, the fault state and disable
</Remark></ParameterInfo><ParameterInfo Address="45807"><Remark>No.	Mode				Abbr.
1	Profile position mode		PP
3	Profile velocity mode		PV
4	profile Torque mode		PT
6	Homing mode			HM
8	Cyclic synchronous position mode	CSP
9	Cyclic synchronous velocity mode	CSV
10	Cyclic synchronous torque mode	CST
</Remark></ParameterInfo><ParameterInfo Address="45809"><Remark>No.	Mode				Abbr.

1	Profile position mode		PP

3	Profile velocity mode		PV

4	profile Torque mode		PT

6	Homing mode			HM

8	Cyclic synchronous position mode	CSP

9	Cyclic synchronous velocity mode	CSV

10	Cyclic synchronous torque mode	CST

</Remark></ParameterInfo><ParameterInfo Address="45811"><Remark>Reflects position command when servo driver is enabled. </Remark></ParameterInfo><ParameterInfo Address="45813"><Remark>Reflects motor absolute position (Encoder unit)</Remark></ParameterInfo><ParameterInfo Address="45815"><Remark>Reflects user’s real time absolute position
6064h*Gear ratio = 6063h
</Remark></ParameterInfo><ParameterInfo Address="45817"><Remark>To set an acceptable deviation for requested position. 
When actual position exceed position deviation window, error might occur. 
</Remark></ParameterInfo><ParameterInfo Address="45819"><Remark>To set position deviation detection time</Remark></ParameterInfo><ParameterInfo Address="45821"><Remark>To set an acceptable extent of arrival position </Remark></ParameterInfo><ParameterInfo Address="45823"><Remark>To set the time between arrival to the output of INP (In position) signal. </Remark></ParameterInfo><ParameterInfo Address="45829"><Remark>To set the time between arrival to the output of INP (In position) signal. </Remark></ParameterInfo><ParameterInfo Address="45831"><Remark>Reflects user’s internal command velocity feedback value</Remark></ParameterInfo><ParameterInfo Address="45833"><Remark>Set the range of velocity</Remark></ParameterInfo><ParameterInfo Address="45835"><Remark>To set the time between velocity reached and status word set to TargetReached. </Remark></ParameterInfo><ParameterInfo Address="45837"><Remark>To set to zero-speed threshold.</Remark></ParameterInfo><ParameterInfo Address="45839"><Remark>To set the time until status word – zero speed detection is canceled. </Remark></ParameterInfo><ParameterInfo Address="45841"><Remark>To set target torque for protocol and cyclic torque mode.</Remark></ParameterInfo><ParameterInfo Address="45843"><Remark>To set max. torque for servo driver. Limited by motor max. torque. </Remark></ParameterInfo><ParameterInfo Address="45845"><Remark>To set max. current for servo driver. </Remark></ParameterInfo><ParameterInfo Address="45847"><Remark>Internal command torque</Remark></ParameterInfo><ParameterInfo Address="45849"><Remark>Shows motor rated current.</Remark></ParameterInfo><ParameterInfo Address="45853"><Remark>Shows servo driver actual torque feedback</Remark></ParameterInfo><ParameterInfo Address="45857"><Remark>Shows DC bus voltage across P, N terminals</Remark></ParameterInfo><ParameterInfo Address="45859"><Remark>To set the target position under protocol and cyclic position mode.</Remark></ParameterInfo><ParameterInfo Address="45867"><Remark>To set position offset to compensate for the deviation of mechanical origin from motor origin under homing</Remark></ParameterInfo><ParameterInfo Address="45871"><Remark>To set lower limit with calculated position and actual position using absolute position after homing. </Remark></ParameterInfo><ParameterInfo Address="45873"><Remark>To set upper limit with calculated position and actual position using absolute position after homing. </Remark></ParameterInfo><ParameterInfo Address="45875"><Remark>To set input command polarity

Mode			Value
Position mode PP	0：Rotate in the same direction as the position command
	      HM	128：Rotate in the opposite direction to the position command
	      CSP			
	     
Velocity mode PV	0：Rotate in the same direction as the position command
	      CSV	64：Rotate in the opposite direction to the position command
		
Torque mode PT	0：Rotate in the same direction as the position command
	     CST	32：Rotate in the opposite direction to the position command
		
ALL mode		0：Rotate in the same direction as the position command
		224：Rotate in the opposite direction to the position command
</Remark></ParameterInfo><ParameterInfo Address="45877"><Remark>To set maximum allowable velocity. Limited by 6080.</Remark></ParameterInfo><ParameterInfo Address="45879"><Remark>To set the maximum allowable motor speed</Remark></ParameterInfo><ParameterInfo Address="45881"><Remark>To set target velocity. Limited by 607Fh.</Remark></ParameterInfo><ParameterInfo Address="45885"><Remark>To set motor acceleration</Remark></ParameterInfo><ParameterInfo Address="45887"><Remark>To set motor deceleration</Remark></ParameterInfo><ParameterInfo Address="45889"><Remark>To set the deceleration during an emergency stop</Remark></ParameterInfo><ParameterInfo Address="45893"><Remark>To set values for tendency torque command</Remark></ParameterInfo><ParameterInfo Address="45899"><Remark>To set encoder resolution</Remark></ParameterInfo><ParameterInfo Address="45911"><Remark>To set electronic gear ratio numerator</Remark></ParameterInfo><ParameterInfo Address="45913"><Remark>To set electronic gear ratio denominator</Remark></ParameterInfo><ParameterInfo Address="45917"><Remark>If 6092h-01(Feed constant) is not equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = Encoder resolution / 6092h-01

If 6092h-01(Feed constant) is equal to 608Fh(Position encoder resolution), then:
Electronic gear ratio = 6091-01 / 6092h-01
</Remark></ParameterInfo><ParameterInfo Address="45921"><Remark>The table below describes the velocity, direction and stopping conditions of each homing methods. 

Value	Description
	Velocity	Direction	Stop
-6	Low	Negative	When torque reached
-5	Low	Positive	When torque reached
-4	High	Negative	Inversed when torque reached, after torque is gone
-3	High	Positive	Inversed when torque reached, after torque is gone
-2	High	Negative	Inversed when torque reached, received 1st Z-signal after torque is gone
-1	High	Positive	Inversed when torque reached, received 1st Z-signal after torque is gone
	
	Direction	Deceleration point	Home		Before Z-signal
1	Negative	Negative limit switchMotor Z-signal	Negative limit switch falling edge
2	Positive	Positive limit switch	Motor Z-signal	Positive limit switch falling edge
3	Positive	Homing switch	Motor Z-signal	Falling edge on same side of homing switch
4	Positive	Homing switch	Motor Z-signal	Rising edge on same side of homing switch
5	Negative	Homing switch	Motor Z-signal	Falling edge on same side of homing switch
6	Negative	Homing switch	Motor Z-signal	Rising edge on same side of homing switch
7	Positive	Homing switch	Motor Z-signal	Falling edge on same side of homing switch
8	Positive	Homing switch	Motor Z-signal	Rising edge on same side of homing switch
9	Positive	Homing switch	Motor Z-signal	Rising edge on same side of homing switch
10	Positive	Homing switch	Motor Z-signal	Falling edge on same side of homing switch
11	Negative	Homing switch	Motor Z-signal	Failling edge on same side of homing switch
12	Negative	Homing switch	Motor Z-signal	Rising edge on same side of homing switch
13	Negative	Homing switch	Motor Z-signal on other side of homing switch	Rising edge on other side of homing switch
14	Negative	Homing switch	Motor Z-signal on other side of homing switch	Falling edge on other side of homing switch
15	
16	
17-32	Similar with 1-14, but deceleration point = homing point
33	Home in negative direction, Homing point = motor Z-signal
34	Home in positive direction, Homing point = motor Z-signal
35-37	Set current position as homing point
</Remark></ParameterInfo><ParameterInfo Address="45925"><Remark>To set high speed used in homing (Search for origin switch)</Remark></ParameterInfo><ParameterInfo Address="45927"><Remark>To set low speed used in homing (Search for Z-signal)</Remark></ParameterInfo><ParameterInfo Address="45929"><Remark>To set acceleration and deceleration used in homing</Remark></ParameterInfo><ParameterInfo Address="45947"><Remark>To set servo drive position command offset value under CSP mode（Position feedforward）
Servo target position=607A+60B0</Remark></ParameterInfo><ParameterInfo Address="45949"><Remark>To set offset value for velocity command.
To reduce position deviation during positioning. 
Please set offset value to 0 after positioning to avoid deviation between target position and feedback position.</Remark></ParameterInfo><ParameterInfo Address="45951"><Remark>To add or deviate torque command</Remark></ParameterInfo><ParameterInfo Address="45953"><Remark>Bit 	Description		Details
0	Probe 1  			0--Disable
				1--Enable
1	Probe 1 trigger mode	0--Single trigger, triggered only when trigger signal is valid
				1—Continuous trigger
2	Probe 1 trigger signal 	0—Probe 1 captured
	selection			1--Z signal
3	Reserved			-
4	Probe 1 rising edge enabled	0--Disable 
				1--Enable
5	Probe 1 falling edge enabled	0--Disable 
				1--Enable
6-7	Reserved			-
8	Probe 2  			0--Disable
				1--Enable
9	Probe 2 trigger mode	0--Single trigger, triggered only when trigger signal is valid
				1—Continuous trigger
10	Probe 2 trigger signal 	0—Probe 2 captured
	selection			1--Z signal
11	Reserved			-
12	Probe 2 rising edge enabled 	0—Rising edge not latched 
				1—Rising edge latched
13	Probe 2 falling edge enabled	0—Falling edge not latched 
				1—Falling edge latched
14-15	Reserved			-
</Remark></ParameterInfo><ParameterInfo Address="45955"><Remark>Bit	Definition			Details
0	Probe 1			0--Disable
				1--Enable
1	Probe 1 rising edge latching 	0—Rising edge not latched 
				1—Rising edge latched
2	Probe 1 falling edge latching 	0—Falling edge not latched 
				1—Falling edge latched
3-5	-			-
6-7	-			-
8	Probe 2 			0--Disable
				1--Enable
9	Probe 2 rising edge latching 	0—Rising edge not latched 
				1—Rising edge latched
10	Probe 2 falling edge latching 	0—Falling edge not latched 
				1—Falling edge latched
11-13	-			-
14-15	-			-
</Remark></ParameterInfo><ParameterInfo Address="45957"><Remark>Shows position feedback at rising edge of probe 1 signal</Remark></ParameterInfo><ParameterInfo Address="45959"><Remark>Shows position feedback at falling edge of probe 1 signal</Remark></ParameterInfo><ParameterInfo Address="45961"><Remark>Shows position feedback at rising edge of probe 2 signal</Remark></ParameterInfo><ParameterInfo Address="45963"><Remark>Shows position feedback at falling edge of probe 2 signal</Remark></ParameterInfo><ParameterInfo Address="45971"><Remark>To set upper limit of acceleration. </Remark></ParameterInfo><ParameterInfo Address="45973"><Remark>To set lower limit of acceleration. </Remark></ParameterInfo><ParameterInfo Address="45989"><Remark>Shows the number of times probe 1 rising edge latched. </Remark></ParameterInfo><ParameterInfo Address="45991"><Remark>Shows the number of times probe 1 falling edge latched. </Remark></ParameterInfo><ParameterInfo Address="45993"><Remark>Shows the number of times probe 2 rising edge latched. </Remark></ParameterInfo><ParameterInfo Address="45995"><Remark>Shows the number of times probe 2 falling edge latched.</Remark></ParameterInfo><ParameterInfo Address="46001"><Remark>To set the maximum torque of servo driver in positive direction</Remark></ParameterInfo><ParameterInfo Address="46003"><Remark>To set the maximum torque of servo driver in negative direction</Remark></ParameterInfo><ParameterInfo Address="46009"><Remark>Shows position following error</Remark></ParameterInfo><ParameterInfo Address="46011"><Remark>Shows internal command velocity (Position loop output)</Remark></ParameterInfo><ParameterInfo Address="46013"><Remark>Shows internal command position of servo driver.</Remark></ParameterInfo><ParameterInfo Address="46015"><Remark>To monitor status of digital inputs
The bits of 60FDh object are functionally defined as follow:

Bit31	Bit30	Bit29	Bit28	Bit27	Bit26	Bit25	Bit24
Z signal 	Reserved	Reserved	Reserved	Probe 2	Probe 1	BRAKE	INP/V-COIN /TLC
Bit23	Bit22	Bit21	Bit20	Bit19	Bit18	Bit17	Bit16
E-STOP	Reserved	Reserved	Reserved	Reserved	Reserved	DI14	DI13
Bit15	Bit14	Bit13	Bit12	Bit11	Bit10	Bit9	Bit8
DI12	DI11	DI10	DI9	DI8	DI7	DI6	DI5
Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
DI4	DI3	DI2	DI1	Reserved	HOME	POT	NOT
</Remark></ParameterInfo><ParameterInfo Address="46019"><Remark>To set external output signal
The bits of 60FEh object are functionally defined as follow:

Sub-index	/Bit	31~21	21	20	19	18	17	16	15~0
01h		Reserved	DO6 valid	DO5 valid	DO4 valid	DO3 valid	DO2 valid	DO1 valid	Reserved
</Remark></ParameterInfo><ParameterInfo Address="46021"><Remark>To set physical output operation
The bits of a 60FEh object are functionally defined as follow:
Bit
Sub-index/Bit 31~21	21		20		19		18	
02h	     Reserved	DO6 enabled	DO5 enabled	DO4 enabled	DO3 enabled	
	      17		16		15~0 
	     DO2 enabled	DO1 enabled	Reserved
</Remark></ParameterInfo><ParameterInfo Address="46023"><Remark>Shows set target velocity. Limited by 6080h</Remark></ParameterInfo><ParameterInfo Address="46027"><Remark>Shows the control modes supported by the servo drive.

6502h object is used to set servo drive control mode

Bit	31~10	9	8	7	6	5	4	3	2	1	0

Mode	Reserved	CST	CSV	CSP	Reserved	HM	Reserved	PT	PV	Reserved	PP

Data	0	1	1	1	0	1	0	1	1	0	1</Remark></ParameterInfo></root>
