<root><ParameterInfo Address="1"><Remark>Model-following bandwidth, also known as model-following control (MFC), is used to control the position loop to improve the responsiveness to commands, speed up positioning time and reduce following error. The effect is obvious especially in low and medium mechanical stiffness. 
Use mainly to tune MFC or ZTC bandwidth.

Value	Description
0	Disable model following/zero tracking control
1	Set bandwidth automatically
2~9	Reserved 
10~2000	Manually set control bandwidth. 30~100 recommended for belt application
</Remark></ParameterInfo><ParameterInfo Address="3"><Remark>To set required control modes:

Value	1st mode	2nd mode
【0】	Position	—
1	Velocity	—
2	Torque	—
3	Position	Velocity
4	Position	Torque
5	Velocity	Torque
6	PR mode  Pr0.22
</Remark></ParameterInfo><ParameterInfo Address="5"><Remark>Set up real time auto gain adjusting:
Value	Mode	                          Description
0x0	Manual	                          Pr0.03 invalid. Gain value must be adjusted manually and accordingly. 
0x1	Standard	                          Gain switching is not used in this mode, suitable for applications with requirements for stability. 
0x2	Positioning	            This mode is suitable for applications requiring quick positioning. i.e. Horizontal axis without varying load and ball screws with low friction.
0x10	High inertia + Manual            Adaptive inertia ratio for inertia 30 times or above. Inertia value remains, only stiffness is modified.
0x11	High inertia + Standard         Adaptive inertia ratio for inertia 30 times or above. Inertia value remains, only stiffness is modified.
0x12	High inertia + Positioning       Adaptive inertia ratio for inertia 30 times or above. Inertia value remains, only stiffness is modified.</Remark></ParameterInfo><ParameterInfo Address="7"><Remark>To set real time auto stiffness level adjustments (81-50 levels)

Lower values ensure better system responsiveness and mechanical stiffness but machine vibration might occur, please set accordingly. 
Please modify stiffness level when axis is totally stopped.</Remark></ParameterInfo><ParameterInfo Address="9"><Remark>Set 1st inertia ratio, the inertia ratio between load and motor rotating inertia.

Set inertia ratio according to actual load inertia. When both are uniform, actual motor velocity loop responsiveness and gain settings will be consistent. If inertia ratio is greater than actual value, velocity loop gain settings will be higher and vice versa. 
For motor with high inertia, Pr0.04 can be left unfilled but optimal setting of Pr0.04 could improve system performance.</Remark></ParameterInfo><ParameterInfo Address="13"><Remark>Used to change the rotational direction(command polarity) of the motor.
When = 0, polarity is not inversed.
When = 1, polarity is inversed.</Remark></ParameterInfo><ParameterInfo Address="15"><Remark>To set command pulse mode：
0 or 2：A+B pulse
1：Positive/Negative pulse sequence
3：Pulse+Sequence</Remark></ParameterInfo><ParameterInfo Address="17"><Remark>To set command pulse count per revolution.

Control will affected if value set is too low. Err1b1 might occur if value &lt; 500.
(1) Pr0.08 valid when  ≠ 0: Motor revolution = input pulse count  / [Pr0.08 value]
(2) Pr0.08 invalid when = 0: Pr0.09 and Pr0.10 valid. 
</Remark></ParameterInfo><ParameterInfo Address="27"><Remark>1st torque limit is set according to ratio percentage of motor rated current. 
Unit: Percentage of motor rated current.
Do not exceed max driver output current.</Remark></ParameterInfo><ParameterInfo Address="29"><Remark>Please set threshold value for position deviation accordingly. 
Default factory setting = 30, Er180 will be triggered if positive deviation is in excess of 3 revolutions.</Remark></ParameterInfo><ParameterInfo Address="31"><Remark>To set aboslute encoder type and settings:
Value	Mode			Description
【0】	Incremental		Doesn’t retain position data on power off. Unlimited travel distance.
1	Multiturn absolute linear	Retrain position data on power off. For applications with fixed travel distance and no multiturn data overflow. 
2	Multiturn absolute rotary	Retrain position data on power off. Actual data feedback in between 0-(Pr6.63+1). Unlimited travel distance.
3	Single turn absolute		Used when travel distance is within 1 revolution of the encoder. Data overflow will trigger alarm.
5	Multi turn absolute		Clear multiturn alarm and activate multiturn absolute function. Will switch to multiturn mode once alarm cleared, if remains at 5 after 3s, please solve according to Er153.
9	Multi turn absolute		Clear multiturn position, reset multiturn alarm and activate multiturn absolute function. Will switch to multiturn mode once alarm cleared, if remains at 9 after 3s, please solve according to Er153. Please disable axis before setting to 9 and home the axis before using.
</Remark></ParameterInfo><ParameterInfo Address="33"><Remark>To set resistance value of regenerative resistor 
Pr0.16 and Pr0.17set value determine alarm threshold of Er120.
If set value &gt; actual regenerative resistance, Er120 occurrence might be delayed.
</Remark></ParameterInfo><ParameterInfo Address="35"><Remark>To set power rating of regenerative resistor.  Please refer to table below

Model		Internal resistance(Ω)	Internal resistor power rating(W)
EL8-RS400F	100			50
EL8-RS750F	50			75
EL8-RS1000F	50			75

Pr0.16 and Pr0.17 determines the threshold value of Er120. Please set accordingly or it might trigger false alarm or damage to servo drive.
Note: If external regenerative resistor is used, please set according to its labeled power rating.
</Remark></ParameterInfo><ParameterInfo Address="129"><Remark>Higher position loop gain value improves the responsiveness of the servo driver and lessens the positioning time. 
Position loop gain value shouldn’t exceed responsiveness of the mechanical system and take in consideration velocity loop gain, if not it might cause vibration, mechanical noise and overtravel.
As velocity loop gain is based on position loop gain, please set both values accordingly. 
Recommended range: 1.2≤Pr1.00/Pr1.01≤1.8 
</Remark></ParameterInfo><ParameterInfo Address="131"><Remark>To determine the responsiveness of the velocity loop. 
If inertia ratio of Pr0.04 is uniform with actual inertia ratio, velocity loop responsiveness = Pr1.01. 
To increase position loop gain and improve responsiveness of the whole system, velocity loop gain must be set at higher value. 
Please notice that if the velocity loop gain is too high, it might cause vibration.
</Remark></ParameterInfo><ParameterInfo Address="133"><Remark>The lower the set value, the closer the lag error at stop to 0 but might cause vibration. 
If the value set is overly large, overshoot, delay of positioning time duration and lowered responsiveness might occur.
Set 10000 to deactivate Pr1.02.
It is recommended to follow the guidance below:
50000≤Pr1.01xPr1.02≤150000
For example, when 1st velocity loop gain Pr1.01＝500(0.1HZ), which is 50Hz, 
1st Integral Time Constant of Velocity Loop ：100(0.1ms)≤Pr1.02≤300(0.1ms)</Remark></ParameterInfo><ParameterInfo Address="135"><Remark>This filter is a low pass filter. 
It blocks high frequencies which cause system instability from velocity feedback data. 
The higher the set value, lower frequencies will be blocked and velocity responsiveness will also be lowered. 
Pr1.03 needs to match velocity loop gain. </Remark></ParameterInfo><ParameterInfo Address="137"><Remark>To set torque command low-pass filter, 
add a filter delay time constant to torque command and filter out the high frequencies in the command.
Often used to reduce or eliminate some noise or vibration during motor operation, 
but it will reduce the responsiveness of current loop,
resulting in undermining velocity loop and position loop control. 
Pr1.04 needs to match velocity loop gain.
Recommended range: 1,000,000/(2π×Pr1.04) ≥Pr1.01×4

For example: Velocity loop gain Pr1.01=180(0.1Hz) which is 18Hz. 
Time constant of torque filter should be Pr1.01≤221(0.01ms)
If mechanical vibration is due to servo driver, adjusting Pr1.04 might eliminate the vibration. 
The smaller the value, the better the responsiveness but also subjected to machine conditions. 
If the value is too large, it might lower the responsiveness of current loop. 
With higher Pr1.01 value settings and no resonance, reduce Pr1.04 value; 
With lower Pr1.01 value settings, increase Pr1.04 value to lower motor noise.
</Remark></ParameterInfo><ParameterInfo Address="149"><Remark>Used for decreasing following error caused by low responsiveness of velocity loop. 
Might cause overshoot or increase in noise if set value is too high. </Remark></ParameterInfo><ParameterInfo Address="151"><Remark>Set velocity feed forward low pass filter to eliminate high or abnormal frequencies in velocity feed forward command. 
Often used when position command with low resolution or high electronic gear ration to smoothen velocity feed forward.
Position deviation under constant velocity can be lowered with higher velocity feed forward gain. 
Reduce Pr1.11 value to suppress velocity overshoot during deceleration; 
Increase Pr1.11 value to suppress noise or vibration due to long driver control cycle or position command uneven pulse frequency.
</Remark></ParameterInfo><ParameterInfo Address="153"><Remark>Before using torque feed forward, please set correct inertia ratio Pr0.04. 
By increasing torque feed forward gain, position deviation on constant acceleration/deceleration can be reduced to close to 0. 
Under ideal condition and trapezoidal speed profile, position deviation of the whole motion can be reduced to close to 0. 
In reality, perturbation torque will always exist, hence position deviation can never be 0.  </Remark></ParameterInfo><ParameterInfo Address="155"><Remark>Low pass filter to eliminate abnormal or high frequencies in torque feed forward command. 
Usually used when encoder has lower resolution or precision. 
Noise reduces if torque feed forward filter time constant is set higher but position deviation will increase at acceleration varied points. 
</Remark></ParameterInfo><ParameterInfo Address="159"><Remark>In position control, set the conditions for gain switching to be valid.</Remark></ParameterInfo><ParameterInfo Address="161"><Remark>Set threshold value for gain switching to occur. 
Unit is mode dependent.

Switching condition	Unit
Position	              Encoder pulse count
Velocity	              RPM
Torque	              %

Please set level ≥ hysteresis</Remark></ParameterInfo><ParameterInfo Address="165"><Remark>To set hysteresis at position control switching
To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.
If level&lt; hysteresis, drive will set internally hysteresis = level. 
</Remark></ParameterInfo><ParameterInfo Address="167"><Remark>To set gain switching time in position control mode.
During position control, if 1st and 2nd gain difference is too large, 

to ease torque changes and vibration due to rapid changes in position loop gain, 

set suitable Pr1.19 value</Remark></ParameterInfo><ParameterInfo Address="257"><Remark>To set resonance determining method for adaptive filter and actions after.
Value	Description
0	Adaptive filter: invalid		Parameters related to 3rd notch filter remain unchanged
1	Adaptive filter: 1 filter valid for once.	1 adaptive filter becomes valid. 3rd notch filter related parameters updated accordingly. Pr2.00 switches automatically to 0 once updated.
2	Adaptive filter: 1 filter remains valid	1 adaptive filter becomes valid. 3rd notch filter related parameters will keep updating accordingly.
</Remark></ParameterInfo><ParameterInfo Address="259"><Remark>Set center frequency of 1st torque command notch filter.
Set Pr2.01 to 4000 to deactivate notch filter
</Remark></ParameterInfo><ParameterInfo Address="261"><Remark>Set notch bandwidth for 1st resonant notch filter.
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.01 and Pr2.03, Pr2.02 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings
</Remark></ParameterInfo><ParameterInfo Address="263"><Remark>Set notch depth for 1st resonant notch filter.
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.01 and Pr2.02, Pr2.03 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings
</Remark></ParameterInfo><ParameterInfo Address="265"><Remark>Set center frequency of 2nd torque command notch filter.
Set Pr2.04 to 4000 to deactivate notch filter
</Remark></ParameterInfo><ParameterInfo Address="267"><Remark>Set notch bandwidth for 2nd resonant notch filter.
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.04 and Pr2.06, Pr2.05 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.
</Remark></ParameterInfo><ParameterInfo Address="269"><Remark>Set notch depth for 1st resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. 
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.
</Remark></ParameterInfo><ParameterInfo Address="271"><Remark>Set center frequency of 3rd torque command notch filter.
Set Pr2.07 to 4000 to deactivate notch filter
Invalid if adaptive filter is on. </Remark></ParameterInfo><ParameterInfo Address="273"><Remark>Set notch depth for 3rd resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. 
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.
Invalid if adaptive filter is on. </Remark></ParameterInfo><ParameterInfo Address="275"><Remark>Set notch depth for 3rd resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. 
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.
Invalid if adaptive filter is on.</Remark></ParameterInfo><ParameterInfo Address="285"><Remark>Please measure the wobble frequency of the loaded end before setting the value. 

Value	Description
【0】	Deactivate
10~2000	Set vibration suppression frequency

To suppress wobble at load end. 
Often used when wobble of flexible structure due to high deceleration upon stopping. 
Especially effective for wobble with frequencies under 100Hz. 
Set Pr2.15 to wobble frequency (wobble frequency can be determined using tracing function of Motion Studio)</Remark></ParameterInfo><ParameterInfo Address="289"><Remark>Please measure the wobble frequency of the loaded end before setting the value. 

Value	Description
【0】	Deactivate
10~2000	Set vibration suppression frequency

To suppress wobble at load end. 
Often used when wobble of flexible structure due to high deceleration upon stopping. 
Especially effective for wobble with frequencies under 100Hz. 
Set Pr2.16 to wobble frequency (wobble frequency can be determined using tracing function of Motion Studio)</Remark></ParameterInfo><ParameterInfo Address="301"><Remark>To set time constant of 1 time delay filter of position command.

Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot. 
To smoothen command signal, reduces impact to machines and eliminate vibration. 
If Pr2.22 is set too high, overall time will be lengthened. </Remark></ParameterInfo><ParameterInfo Address="303"><Remark>To set position command FIR filter time constant
When target velocity Vc square wave command reaches Vc, it becomes trapezoidal wave after filtering. 
When target velocity Vc trapezoidal command reaches Vc, it becomes S wave after filtering. 

Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot. 
To smoothen command signal, reduces impact to machines and eliminate vibration. 
If Pr2.23 is set too high, overall time will be lengthened. 

Note: Please wait for command to stop and after filter idle time to modify Pr2.23. 
           Filter switching time = (Pr2.23 set value x 0.1ms + 0.25ms) 
</Remark></ParameterInfo><ParameterInfo Address="409"><Remark>To set acceleration time for velocity command to increase by 1000rpm
For example: If motor is to achieve 1500rpm in 30s, a=1500/30=50rpm/ms
Pr3.12 = 1000/a= 20. Hence when Pr3.12 = 20, motor can achieve 1500rpm in 30s.
Usually used when there is rapid acceleration or trapezoidal wave velocity command due to 
many different internal speed segments under velocity control mode which causes instable 
while motor in motion.</Remark></ParameterInfo><ParameterInfo Address="411"><Remark>To set acceleration time for velocity command to increase by 1000rpm.
For example, when = 30, the time required for 1000rpm to go down to 0 rpm is 30 seconds.
Usually used when there is rapid acceleration or trapezoidal wave velocity command due to many different internal speed segments under velocity control mode which causes instable while motor in motion.
</Remark></ParameterInfo><ParameterInfo Address="413"><Remark>To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and Pr3.13.</Remark></ParameterInfo><ParameterInfo Address="417"><Remark>Valid when Pr3.15 = 2/3
Velocity command is forced to 0 when actual velocity is lower than Pr3.16
and after static time set in Pr3.23.</Remark></ParameterInfo><ParameterInfo Address="431"><Remark>To set the time interval between axis reaches zero speed level and the moment it totally stops.
Used when axis crawls under velocity mode. 
Set 0 to deactivate this parameter.
</Remark></ParameterInfo><ParameterInfo Address="513"><Remark>Please refer to the table below to set DI signals and table on the right for corresponding pin and parameters
Signal			Symbol	Value
				NO	NC
Invalid			—	0	-
Positive limit switch		POT	1	81
Negative limit switch	NOT	2	82
Servo enabled		SRV-ON	3	83
Clear alarm		A-CLR	4	-
Control mode switching	C-MODE	5	85
Gain switching		GAIN	6	86
Clear deviation count	CL	7	-
Command pulse prohibited	INH	8	88
Torque limit switching	TL-SEL	9	89
Command frequency divider/
multiplier switching		DIV1	C	8C
Internal command velocity  1	INTSPD1	E	8E
Internal command velocity  2	INTSPD2	F	8F
Internal command velocity  3	INTSPD3	10	90
Zero speed clamp		ZEROSPD	11	91
Velocity command sign	VC-SIGN	12	92
Torque command sign	TC-SIGN	13	93
Forced alarm		E-STOP	14	94
Vibration suppression 1	VS-SEL1	0A	8A
Vibration suppression 2	VS-SEL2	0B	8B

 Please don’t set anything other than listed in table above.
 Normally open (NO) : Valid when input = ON 
 Normally close (NC): Valid when input = OFF
 Er210 might occur if same function is allocated to different channels at the same time
 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="515"><Remark>Please refer to the table below to set DI2 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="517"><Remark>Please refer to the table below to set DI3 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="519"><Remark>Please refer to the table below to set DI4 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="533"><Remark>Please allocate DO1 as per table below. ALARM logic is the opposite of others

Value		Signal			Symbol
NO	NC		
00	80	Invalid			—
01	81	Alarm 			ALARM
02	82	Servo-Ready		SRDY
03	83	External brake released	BRK-OFF
04	84	Positioning completed	INP
05	85	At-speed			AT-SPEED
06	86	Torque limit signal		TLC
07	87	Zero speed clamp detection 	ZSP
08	88	Velocity coincidence		V-COIN
12	92	Servo Status		SRV-ST
15	95	Positive limit valid		POT-OUT
16	96	Negative limit valid		NOT-OUT
0B	8B	Position command ON/OFF	P-CMD
0F	8F	Velocity command ON/OFF	V-CMD
0D	8D	Velocity limit signal		V-LIMIT
14	94	Position comparison		CMP-OUT

Same signal can be assigned to multiple different outputs.
Normally open(NO)：Active low
Normally close(NC)：Active high	
Err212 might occur if output is allocated to signals other than listed in the table above.
</Remark></ParameterInfo><ParameterInfo Address="535"><Remark>Please allocate DO2 as per table below. ALARM logic is the opposite of others



Value		Signal			Symbol

NO	NC		

00	80	Invalid			—

01	81	Alarm 			ALARM

02	82	Servo-Ready		SRDY

03	83	External brake released	BRK-OFF

04	84	Positioning completed	INP

05	85	At-speed			AT-SPEED

06	86	Torque limit signal		TLC

07	87	Zero speed clamp detection 	ZSP

08	88	Velocity coincidence		V-COIN

12	92	Servo Status		SRV-ST

15	95	Positive limit valid		POT-OUT

16	96	Negative limit valid		NOT-OUT

0B	8B	Position command ON/OFF	P-CMD

0F	8F	Velocity command ON/OFF	V-CMD

0D	8D	Velocity limit signal		V-LIMIT

14	94	Position comparison		CMP-OUT



Same signal can be assigned to multiple different outputs.

Normally open(NO)：Active low

Normally close(NC)：Active high	

Err212 might occur if output is allocated to signals other than listed in the table above.

</Remark></ParameterInfo><ParameterInfo Address="537"><Remark>Please allocate DO3 as per table below. ALARM logic is the opposite of others



Value		Signal			Symbol

NO	NC		

00	80	Invalid			—

01	81	Alarm 			ALARM

02	82	Servo-Ready		SRDY

03	83	External brake released	BRK-OFF

04	84	Positioning completed	INP

05	85	At-speed			AT-SPEED

06	86	Torque limit signal		TLC

07	87	Zero speed clamp detection 	ZSP

08	88	Velocity coincidence		V-COIN

12	92	Servo Status		SRV-ST

15	95	Positive limit valid		POT-OUT

16	96	Negative limit valid		NOT-OUT

0B	8B	Position command ON/OFF	P-CMD

0F	8F	Velocity command ON/OFF	V-CMD

0D	8D	Velocity limit signal		V-LIMIT

14	94	Position comparison		CMP-OUT



Same signal can be assigned to multiple different outputs.

Normally open(NO)：Active low

Normally close(NC)：Active high	

Err212 might occur if output is allocated to signals other than listed in the table above.

</Remark></ParameterInfo><ParameterInfo Address="575"><Remark>To set position deviation range of INP1 positioning completed output signal. 
INP1 output signal will be valid once position is complete within the range of deviation set. 
Default unit: 0.00001rev. Can be set on Pr5.21 as command unit (pulse) or encoder unit (pulse)
</Remark></ParameterInfo><ParameterInfo Address="577"><Remark>To set conditions for INP1 output signal to be valid

Value	Positioning completed signal
0	Signal valid when the position deviation is smaller than Pr4.31
1	Signal valid when there is no position command and position deviation is smaller than Pr4.31
2	Signal valid when there is no position command, zero-speed clamp detection (ZSP) signal is ON and the positional deviation is smaller than Pr4.31 
3	Signal valid when there is no position command and position deviation is smaller than Pr4.31. Signal ON when within the time set in Pr4.33 otherwise OFF. 
4	When there is no command, position detection starts after the delay time set in Pr4.33.
	Signal valid when there is no position command and positional deviation is smaller than Pr4.31.
</Remark></ParameterInfo><ParameterInfo Address="579"><Remark>Valid when Pr4.32 = 3. 

Set value	Positioning completed signal 
0	Indefinite delay time, signal ON until next position command
1-15000	OFF within the time set; ON after time set. Switch OFF after receiving next position command. 
</Remark></ParameterInfo><ParameterInfo Address="581"><Remark>To set threshold value for zero speed clamp detection.
Zero speed clamp detection (ZSP) output signal valid when motor speed goes under the value set in Pr4.34

- Disregard the direction of rotation, valid for both directions.
- Hysteresis of 5RPM. Please refer to diagram on the right side.
</Remark></ParameterInfo><ParameterInfo Address="583"><Remark>If the difference between velocity command and motor actual speed is below Pr4.35, 
velocity coincidence (V-COIN) output signal valid. 

Due to 10RPM hysteresis:
Velocity coincidence output OFF -&gt; ON timing (Pr4.35 -10) r/min
Velocity coincidence output ON -&gt; OFF timing (Pr4.35 +10) r/min  
</Remark></ParameterInfo><ParameterInfo Address="585"><Remark>When motor velocity &gt; Pr4.36, AT-speed output signal is valid. 
Detection using 10RPM hysteresis.</Remark></ParameterInfo><ParameterInfo Address="587"><Remark>To set delay time for holding brake to be activated after motor power off to prevent axis from sliding.
When Pr5.06 = 0, SRV-ON signal is off, holding brake is activated (delay time is determined by Pr4.39 or Pr6.14). 
Motor powered-off once delay time set in Pr4.37 is due.
</Remark></ParameterInfo><ParameterInfo Address="589"><Remark>To set delay time for holding brake to be released after motor power on. 
Motor will remain at current position and input command is masked to allow holding brake to be fully released before motor is set in motion.  

*1: Delay time set in Pr4.38
*2: Delay time from the moment BRK_OFF signal is given until actual holding brake is released or BRK_ON signal is given until actual holding brake is activated. It is dependent on the holding brake of the motor. 
*3: Deceleration time is determined by Pr6.14 or if motor speed goes below Pr4.39, whichever comes first. BRK_OFF given after deceleration time.
*4: Pr4.37 set time value.

Delay time from the moment SRV_ON is given until BRK_OFF switch to BRK_ON, is less than 500ms.
</Remark></ParameterInfo><ParameterInfo Address="591"><Remark>To set the activation speed for which holding brake will be activated. 

When SRV-OFF signal is given, motor decelerates, after it reaches below Pr4.39 and Pr6.14 is not yet reached, BRK_OFF is given. 
BRK_OFF signal is determined by Pr6.14 or if motor speed goes below Pr4.39, whichever comes first.

Application:
1. After disabling axis, Pr6.14 has been reached but motor speed is still above Pr4.39, BRK_OFF signal given.
2. After disabling axis, Pr6.14 has not been reached but motor speed is below Pr4.39, BRK_OFF signal given.

Deceleration max duration: 2s. Servo disabled after 2s.
</Remark></ParameterInfo><ParameterInfo Address="599"><Remark>To set if servo motor is forced to stop under emergency situation.

Value	Description. 
【0】	Emergency stop is valid, servo driver will be forced to STOP and Err570 occurs.
1	Emergency stop is invalid, servo driver will not be forced to STOP. 
	Servo can be enabled once E-STOP signal is cleared.
</Remark></ParameterInfo><ParameterInfo Address="649"><Remark>To set driver prohibition input (POT/NOT)

Value	Description
0	POT  Positive direction drive prohibited
	NOT  Negative direction drive prohibited
1	POT and NOT invalid
2	Any single sided input from POT or NOT might cause Er260
</Remark></ParameterInfo><ParameterInfo Address="653"><Remark>To set servo driver disable mode and status. 

Value	Description
	Mode		Status
0	Servo braking 	Dynamic braking
1	Free stopping	Dynamic braking
2	Dynamic braking	Dynamic braking
3	Servo braking	Free-run
4	Free stopping	Free-run
5	Dynamic braking	Free-run
</Remark></ParameterInfo><ParameterInfo Address="659"><Remark>To set delay time for detection of main power-off or low voltage supply. </Remark></ParameterInfo><ParameterInfo Address="661"><Remark>To set servo driver disable mode and status if alarm is triggered.

Alarm type 2:
Value	Description
	Mode		Status
0	Servo braking 	Dynamic braking
1	Free stopping	Dynamic braking
2	Dynamic braking	Dynamic braking
3	Servo braking	Free-run
4	Free stopping	Free-run
5	Dynamic braking	Free-run

Alarm type 1:
Value	Description
	Mode		Status
0	Dynamic braking	Dynamic braking
1	Dynamic braking	Dynamic braking	
2	Dynamic braking	Dynamic braking	
3	Servo braking	Free-run
4	Free stopping	Free-run
5	Dynamic braking	Free-run
</Remark></ParameterInfo><ParameterInfo Address="663"><Remark>To set torque limit for servo braking mode. 
If Pr5.11 = 0, use torque limit as under normal situation.
Please note that if Pr5.11 set value is too low, emergency stop will take longer.
</Remark></ParameterInfo><ParameterInfo Address="665"><Remark>• When set to 0, overload level = 100%.
•Set to 0 under regular usage. Lowering overload level will cause motor to overload in shorter time.
•Er100 occurs when driver output current higher than motor rated current (overload)
  Er101 occurs when driver output current lower than motor rated current 
</Remark></ParameterInfo><ParameterInfo Address="667"><Remark>If motor speed exceeds Pr5.13, Er1A0 might occur.
When Pr5.13 = 0, overspeed level = max. motor speed x 1.2
</Remark></ParameterInfo><ParameterInfo Address="671"><Remark>Digital filtering of I/O input. Overly large value set will cause control delay.</Remark></ParameterInfo><ParameterInfo Address="681"><Remark>Set unit for position related parameters

Value	Unit
0	Encoder unit
1	Command unit
2	0.0001rev

Command unit: Pulse from host (Affected by electronic gear ratio)
Encoder unit: Pulse from encoder (Related to encoder resolution)
Pr5.20 can only be modified when axis is disabled as it will clear position data
</Remark></ParameterInfo><ParameterInfo Address="683"><Remark>To set torque limit.

Value			Limit
【0】			1st torque limit Pr0.13
1			2nd torque limitPr5.22
2	TL-SEL OFF	Pr0.13
	TL-SEL ON	Pr5.22
3~4			Reserved
5			Pr0.13 →Positive torque limit
			Pr5.22 →Negative torque limit
</Remark></ParameterInfo><ParameterInfo Address="685"><Remark>Pr5.22 is limited by max. torque set in motor parameter.</Remark></ParameterInfo><ParameterInfo Address="697"><Remark>To set content display on front panel of the servo driver at servo driver power on.    
             
Value	Status			Value	Status			Value	Status
0	Position deviation		14	Regenerative load rate	28	Software version
1	Motor speed		15	Overload rate		29	Internal usage
2	Position command deviation	16	Inertia load ratio		30	Encoder communication failure counts
3	Velocity control command	17	Cause(s) of non-rotation	31	Accumulated uptime
4	Actual feedback torque	18	No. of I/O changes		32	Internal usage
5	Feedback pulse sum		19	Internal usage		33	Driver temperature
6	Command pulse sum	20	Absolute encoder data	34	Servo status
7	Max. torque		21	Encoder single turn data	35	Internal usage
8	Position command frequency	22	Encoder multiturn data	43	External encoder Z-phase count
9	Control mode		23	485 receive frame		44	External encoder feedback pulse per revolution
10	I/O status			24	Encoder position deviation	45	External encoder direction
11	Analogue input		25	Internal usage		46	Current position comparison point
12	Alarm cause &amp; history record	26	Internal usage		
13	Warning ID		27	PN Voltage		
</Remark></ParameterInfo><ParameterInfo Address="715"><Remark>To set the delay time for detection of torque over limit under torque homing mode.
Under homing mode, when torque exceeds limit and the time set in Pr5.37, TLC output signal will be valid.
</Remark></ParameterInfo><ParameterInfo Address="771"><Remark>Zero position compensation for encoder zero drift to avoid abnormality due to zero drift.</Remark></ParameterInfo><ParameterInfo Address="777"><Remark>To set velocity for JOG trial run command.</Remark></ParameterInfo><ParameterInfo Address="779"><Remark>To set time for 3rd gain to be valid 
Only available in position mode
When not in use, set Pr6.05=0, Pr6.06=100
</Remark></ParameterInfo><ParameterInfo Address="781"><Remark>Set up the 3rd gain by multiplying factor of the 1st gain.
3rd gain= 1st gain * Pr6.06/100
Only effective under position control mode. 3rd gain valid when Pr6.05 ≠ 0. 
Set 3rd gain value in Pr6.06. 
When 2nd gain switches to 1st gain, it will go through 3rd, switching time is set in Pr1.19. 
</Remark></ParameterInfo><ParameterInfo Address="783"><Remark>To set torque forward feed additional value of vertical axis. 
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion and stop the load at that particular point with motor enabled but not rotating. 
Record output torque value from d04, use that value as torque command additional value (compensation value)
</Remark></ParameterInfo><ParameterInfo Address="785"><Remark>To reduce the effect of mechanical friction in the movement(s) of the axis. 
Compensation values can be set according to needs for both rotational directions.</Remark></ParameterInfo><ParameterInfo Address="787"><Remark>To reduce the effect of mechanical friction in the movement(s) of the axis. 
Compensation values can be set according to needs for both rotational directions.</Remark></ParameterInfo><ParameterInfo Address="791"><Remark>To set driver current loop related effective value ratio.</Remark></ParameterInfo><ParameterInfo Address="797"><Remark>To set the max. time allowed for the axis to stop on emergency stop or normal axis disabling.
After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14 is reached, BRK_ON given and holding brake activated. 
BRK_ON given time is determined by Pr6.14 or when motor speed goes below Pr4.39, whichever comes first. 

Applications: 
1. After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14 is reached, BRK_ON given and holding brake activated. 
2. After disabling axis, if motor speed is already lower than Pr4.39 but the time set in Pr6.14 is not yet reached, BRK_ON given and holding brake activated. 

Dynamic brake will be provide the braking function if the function is activated for motors without holding brake.
</Remark></ParameterInfo><ParameterInfo Address="809"><Remark>JOG (Position control) : Distance travel of each motion.</Remark></ParameterInfo><ParameterInfo Address="811"><Remark>JOG (Position control) : Waiting time interval after each motion cycle</Remark></ParameterInfo><ParameterInfo Address="813"><Remark>JOG (Position control) : No. of cycles
When Pr6.22=0, trial run goes into endless cycles. 
</Remark></ParameterInfo><ParameterInfo Address="819"><Remark>To set the acceleration/deceleration time for JOG command between 0 rpm to 1000 rpm</Remark></ParameterInfo><ParameterInfo Address="825"><Remark>0：Default stable gain  1：OFF
x：(unit：%) Manual, related to motor, load and encoder
</Remark></ParameterInfo><ParameterInfo Address="881"><Remark>To set the torque threshold of blocked rotor to trigger alarm. 
(Alarm triggered if torque output% larger than threshold value &amp; under 10rpm)
If Pr6.56 = 0, blocked rotor alarm deactivated. 
If motor speed is 10rpm or above, Er102 won’t be triggered.
</Remark></ParameterInfo><ParameterInfo Address="883"><Remark>To set delay time for blocked rotor alarm. Err102 won’t be triggered if time doesn’t exceed set time in Pr6.57. 
Blocked rotor alarm is activated by default, alarm torque threshold  = 300%, delay time =  400ms; speed threshold = 10rpm;

If the rotor is blocked but with speed over 10rpm, Er102 would not be triggered but Er100 might occur.
</Remark></ParameterInfo><ParameterInfo Address="887"><Remark>To set in position threshold value under origin mode.</Remark></ParameterInfo><ParameterInfo Address="895"><Remark>Use Pr0.15 = 2 in rotational mode, Feedback position cycles between 0 and (Pr6.63+1) x encoder resolution.
Absolute multiturn data will be set to 0 if reaches upper limit.
</Remark></ParameterInfo><ParameterInfo Address="61" AnalyzeType="1"><Remark>To set encoder feedback source

Value	Description
【0】	Feedback from motor（Internal）encoder
1	Use under full closed loop control, external encoder feedback
</Remark></ParameterInfo><ParameterInfo Address="63" AnalyzeType="1"><Remark>To set external encoder type:

Value	Description
【0】	ABZ encoder
1~3	Reserved for future upgrades.
</Remark></ParameterInfo><ParameterInfo Address="65" AnalyzeType="1"><Remark>To set external encoder direction：

Value	Description
【0】	Default direction
1	Inversed direction
</Remark></ParameterInfo><ParameterInfo Address="67" AnalyzeType="1"><Remark>To set the excessive hybrid deviation threshold value, please set accordingly. 
Use in full closed loop control. Factory default: 16000. 
Er180 might occur if position deviation during hybrid control exceeds 16000 pulse counts.
Er191 might occur if Pr0.33 set value is too low.

</Remark></ParameterInfo><ParameterInfo Address="69" AnalyzeType="1"><Remark>To set condition to clear position deviation under hybrid control mode (Full closed loop)

Value	Description
【0】	OFF
1~100	Revolution count to clear hybrid control deviation
</Remark></ParameterInfo><ParameterInfo Address="71" AnalyzeType="1"><Remark>To set frequency divider numerator for external encoder. 
When Pr0.35=0, frequency divider numerator = encoder resolution</Remark></ParameterInfo><ParameterInfo Address="73" AnalyzeType="1"><Remark>To set frequency divider denominator for external encoder. 
When Pr0.37 = 0, External encoder feedback pulse count per revolution = Pr0.36. </Remark></ParameterInfo><ParameterInfo Address="75" AnalyzeType="1"><Remark>To set external encoder feedback pulse count per revolution：

 Value	Pulse count
【0】	Pr0.36
1~231	Pr0.37
When Pr0.37 = 0, External encoder feedback pulse count per revolution = Pr0.36. </Remark></ParameterInfo><ParameterInfo Address="77" AnalyzeType="1"><Remark>To set Z-signal pulse input source:

Value	Bit 1 (Probe Z-signal)	Bit 0 (Homing Z-Signal)
【0】	Motor Z-signal		Motor Z-signal
1	Motor Z-signal		External encoder Z-signal
2	External encoder Z-signal	Motor Z-signal
3	External encoder Z-signal	External encoder Z-signal
</Remark></ParameterInfo><ParameterInfo Address="1005" AnalyzeType="1"><Remark>To select external grating ruler precision</Remark></ParameterInfo><ParameterInfo Address="201" AnalyzeType="1"><Remark>To set filter time for external ABZ encoder</Remark></ParameterInfo><ParameterInfo Address="23" AnalyzeType="1"><Remark>To set encoder output pulse count per revolution. (Before frequency multiplier)
If Pr0.11 = 1000, encoder differential output  signal per revolution = 4000 pulses</Remark></ParameterInfo><ParameterInfo Address="25" AnalyzeType="1"><Remark>To set phase B logic and output source from encoder pulse output. To inverse B-Phase pulse logic and change the relation between Phase A and Phase B
0：B phase logic not inversed. In forward motion, B phase exceeds A phase；In reverse motion, A phase exceeds B phase.
1: B phase logic inversed. In forward motion, A phase exceeds B phase；In reverse motion, B phase exceeds A phase.</Remark></ParameterInfo><ParameterInfo Address="725" AnalyzeType="1"><Remark>To set frequency divided Z-signal polarity.

Bit	Polarity		Description
Bit0	0 = Positive	Z polarity setting of frequency divider output and position comparison
	1 = Negative	
Bit1	0 = Positive	Only valid in position comparison.
	1 = Negative	Polarity setting when phase A frequency divider as position comparison output		
Bit2	0 = Positive	Only valid in position comparison.
			Polarity setting when phase B frequency divider as position comparison output
</Remark></ParameterInfo><ParameterInfo Address="727" AnalyzeType="1"><Remark>To set frequency divided Z-signal width.

Value	Description
【0】	Z bandwidth equivalent to 1 cycle of A/B
1~500	Delay setting on top of A/B cycle width
</Remark></ParameterInfo><ParameterInfo Address="729" AnalyzeType="1"><Remark>To set frequency divider output source

Value	Description
【0】	Position feedback of encoder #1(motor encoder)
1	Position feedback of encoder #2(external encoder)
2	Reserved
3	Pulse input command position synchronous output; position comparison not available in this mode
4	Frequency divider output prohibited
</Remark></ParameterInfo><ParameterInfo Address="1281" AnalyzeType="1"><Remark>To set analog output mode:

Value	Description
【0】	Negative/Positive value: -10~10V
1	Absolute value output: 0~10V
Other	Reserved
</Remark></ParameterInfo><ParameterInfo Address="1291" AnalyzeType="1"><Remark>To set analog output mode:



Value	Description

【0】	Negative/Positive value: -10~10V

1	Absolute value output: 0~10V

Other	Reserved

</Remark></ParameterInfo><ParameterInfo Address="1357" AnalyzeType="1"><Remark>To set position comparison mode：

Value	Description
【0】	Disable
1	Enable （Rising edge）
</Remark></ParameterInfo><ParameterInfo Address="1359" AnalyzeType="1"><Remark>To set position comparison mode：


Value	Description
【0】	Single comparison
1	N cycles comparison
2	Cycle comparison
</Remark></ParameterInfo><ParameterInfo Address="1369" AnalyzeType="1"><Remark>To set the number of cycles for N cycles comparison in position comparison.</Remark></ParameterInfo><ParameterInfo Address="11" AnalyzeType="1"><Remark>To set command pulse input channel: 
Value	Description
【0】	Pulse input low speed channel (200/500kHz pulse input)
1	Pulse input high speed channel (4MHz pulse input)
</Remark></ParameterInfo><ParameterInfo Address="199" AnalyzeType="1"><Remark>To filter position setting pulse, getting rid of narrow pulse frequency with interference. 
Low-speed pulse input unit: 0.05us; High-speed pulse input unit: 0.01us.
If set value is overly large, it will affect the receiving of high frequency command pulse and wth high delay time.
Example : For low speed channel, Pr1.35 = 10, filter frequency = 1MHz, any pulse input with frequency more than 1MHz will be filtered.
              For high speed channel, Pr1.35 = 10, filter frequency = 5MHz, any pulse input with frequency more than 5MHz will be filtered.

Pr1.35	Filter frequency	Pr1.35	Filter frequency
0	Null		100	100kHz(500KHz)
8	1.25MHz(6.25MHz)	125	80kHz(400KHz)
10	1MHz（5MHz）	160	62.5kHz(312KHz)
20	500kHz(2.5MHz)	200	50kHz(250KHz)
50	200kHz(1MHz)		
80	125kHz(625KHz)		
</Remark></ParameterInfo><ParameterInfo Address="1301" AnalyzeType="1"><Remark>To select warning signal for warning indicator light 1

Value	Signal
【0】	None
1	Negative limit
2	Battery low voltage
3	Overload
4	Torque limit
5	Positive limit
other	Reserved
</Remark></ParameterInfo><ParameterInfo Address="357" AnalyzeType="1"><Remark>To set MFC type:

Value	Description
【0】	Model following control
1	Zero tracking control
2	3 inertia (future upgrade)
3	Path following (future upgrade)
</Remark></ParameterInfo><ParameterInfo Address="359" AnalyzeType="1"><Remark>To compensate for velocity feedforward</Remark></ParameterInfo><ParameterInfo Address="361" AnalyzeType="1"><Remark>To compensate for torque feedforward</Remark></ParameterInfo><ParameterInfo Address="363" AnalyzeType="1"><Remark>To set ratio of rated torque/rated rotational speed (Only valid when Pr0.00 ≠ 0)

To compensate for dynamic friction during motion and have better control over acceleration/deceleration. 

When there is an excess position deviation during acceleration/deceleration,

please adjust Pr2.53 to reduce the deviation to 0.</Remark></ParameterInfo><ParameterInfo Address="367" AnalyzeType="1"><Remark>Suppression improves with larger set value but might affect the performance of MFC. 
Please use with caution for any value above 100.</Remark></ParameterInfo><ParameterInfo Address="369" AnalyzeType="1"><Remark>To set one-click tuning：
Bit0-3： Response level，0：Medium，1：Low，2：High
Bit4-7： Tuning mode，0：Positioning，1： Track
Bit8-9： Motion direction，0：To-and-fro，1：Forward，2：Reverse
Bit10：  Deactive inertia ratio identification failed warning
Others: Reserved</Remark></ParameterInfo><ParameterInfo Address="377" AnalyzeType="1"><Remark>To set one-click tuning velocity limit
Default: 50% of motor rated speed.</Remark></ParameterInfo><ParameterInfo Address="1473" AnalyzeType="1"><Remark>To set encoder communication rate：

Value 	Description
0	Automatically switch between 5M and 2.5M; Set to 5M if supported
1	2.5M
2	5M</Remark></ParameterInfo><ParameterInfo Address="45" AnalyzeType="1"><Remark>When Pr0.01 = 6(PR Mode), 2nd mode can be set on Pr0.22

Pr0.01	Pr0.22	Control mode
6	【0】	PR / Position
	1	PR / Velocity
	2	PR / Torque
</Remark></ParameterInfo><ParameterInfo Address="207" AnalyzeType="1"><Remark>Value	Description
【0】	Reserved
1	=1, activate full closed loop during trial run
2	=1, hybrid position deviation clearing
</Remark></ParameterInfo><ParameterInfo Address="353" AnalyzeType="1"><Remark>To set adjustment mode, turn on/off automatic adjustments. 


Value	Description

【0】	Turn off automatic adjustments

1	Activate automatic adjustments, real time inertia measuring and vibration suppression. 

	Inertia measuring deactivated after reaching 4 times in 5 minutes, 

	triggering conditions: changes in mechanical stiffness.

</Remark></ParameterInfo><ParameterInfo Address="365" AnalyzeType="1"><Remark>To set overshoot time coefficient</Remark></ParameterInfo><ParameterInfo Address="385" AnalyzeType="1"><Remark>To set velocity command source under velocity control mode.
Value	Velocity settings
0	Analog -  Velocity command（SPR）
【1】	Internal velocity settings 1st – 4th speed（Pr3.04～Pr3.07）
2	Internal velocity settings 1st – 3rd speed（Pr3.04～P3.06）、Analog velocity command（SPR）
3	Internal velocity settings 1st – 8th speed（Pr3.00～Pr3.11）
</Remark></ParameterInfo><ParameterInfo Address="387" AnalyzeType="1"><Remark>To set positive/negative direction of velocity command
Value	Velocity settings		Velocity command sign selection 	Velocity command direction
	（Analog or internal velocity) 	（VC-
SIGN
）	
【0】	＋			No effect				Positive
	－			No effect				Negative
1	No effect			OFF				Positive
	No effect			
ON				Negative
</Remark></ParameterInfo><ParameterInfo Address="389" AnalyzeType="1"><Remark>To set gain changes from voltage added onto analog velocity command (SPR) to motor command velocity
Pr3.02 sets command input voltage and rotational speed slope.
Factory default: Pr3.02=500(r/min)/V. Hence 6V input: 3000 r/min
</Remark></ParameterInfo><ParameterInfo Address="391" AnalyzeType="1"><Remark>To set voltage polarity of analog velocity command. 
Only valid when Pr3.01 = 0. When Pr3.01 = 1, rotational direction is only related to VC-SIGN.

Value	Motor rotational direction
【0】	Not inversed	「Positive voltage」→「Positive direction」
			「Negative voltage」→「Negative direction」
1	Inversed		「Positive voltage」→「Positive direction」
			「Negative voltage」→「Negative direction」

If there is an external position sensor with different polarity from Pr3.03, motor might undergo abnormal motion. 
</Remark></ParameterInfo><ParameterInfo Address="415" AnalyzeType="1"><Remark>To set up zero speed clamp.

Value	Zero speed clamp function
0	Invalid: zero speed clamp deactivated
1	Velocity command is forced to 0 when the zero speed clamp (ZEROSPD) input signal is valid.
2	Velocity command is forced to 0 when actual velocity is lower than Pr3.16. 
3	Includes conditions from 1 and 2
</Remark></ParameterInfo><ParameterInfo Address="419" AnalyzeType="1"><Remark>To set torque command input and velocity limit input.

Value	Torque command input	Velocity limit input
【0】	Analog input 3(AI 3)	Pr3.21 set value
1	Analog input 3(AI 3)	Analog input 1(AI 1)
2	Pr3.22 set value		Pr3.21 set value
</Remark></ParameterInfo><ParameterInfo Address="421" AnalyzeType="1"><Remark>To set torque command positive/negative direction

Value	Direction settings
【0】	TC-SIGN  ON/OFF has no effect on torque direction
	Torque command input「Positive」→Positive direction、「Negative」→Negative direction
1	Use TC-SIGN ON/OFF status for torque direction
	OFF: Positive direction ON: Negative direction
</Remark></ParameterInfo><ParameterInfo Address="423" AnalyzeType="1"><Remark>To set gain changes from voltage added onto analog torque command (TRQR) to torque command (%)
•Unit: （0.1V/100%）。
•Set input voltage required for rated output torque.
•Default = 30，which is 3V/100%
</Remark></ParameterInfo><ParameterInfo Address="425" AnalyzeType="1"><Remark>To set voltage polarity of analog torque command. 
Only valid when Pr3.18 = 0.

Value	Motor torque direction
【0】	Not inversed	「Positive voltage」→「Positive direction」
			「Negative voltage」→「Negative direction」
1	Inversed		「Positive voltage」→「Positive direction」
			「Negative voltage」→「Negative direction」

</Remark></ParameterInfo><ParameterInfo Address="427" AnalyzeType="1"><Remark>To set velocity limit in torque control mode. Only valid when Pr3.17 = 0 / 2.
Under torque control mode, velocity limit shouldn't exceed set value in Pr3.21.</Remark></ParameterInfo><ParameterInfo Address="429" AnalyzeType="1"><Remark>To set torque limit in torque control mode. Only valid when Pr3.17 = 2.
Please refer to Pr3.17 for further details.
</Remark></ParameterInfo><ParameterInfo Address="433" AnalyzeType="1"><Remark>To set maximum motor rotational speed but not higher than motor rated speed
If Pr3.24 = 0, maximum motor rotational speed = max. speed in motor parameter. 
</Remark></ParameterInfo><ParameterInfo Address="443" AnalyzeType="1"><Remark>Only valid when Pr3.17 = 1.
When Pr3.17=1, velocity is set to 0 if analog 1 voltage is below Pr3.29 set value.
</Remark></ParameterInfo><ParameterInfo Address="445" AnalyzeType="1"><Remark>Only valid when Pr3.17 = 1 / 0.
When Pr3.17=1 / 0, velocity is set to 0 if analog 1 voltage is below Pr3.30 set value.
</Remark></ParameterInfo><ParameterInfo Address="1237" AnalyzeType="1"><Remark>To set attribute value for position comparison 1 and 2

Bit	Position comparison 1
0	Positive crossing comparison. 0=OFF,1=ON
1	Negative crossing comparison. 0=OFF,1=ON
2~5	Reserved
6	Output property settings：
 	=0：Pulse mode
 	=1：Flipping mode
7	DO1
8	DO2
9	DO3
10~12	Reserved
13	Frequency divider Phase A output
14	Frequency divider Phase B output
15	Frequency divider Phase Z output

Bit	Position comparison 2
16	Positive traversal comparison. 0=OFF,1=ON
17	Negative traversal comparison. 0=OFF,1=ON
18~21	Reserved
22	Output property settings：
 	=0：Pulse mode
 	=1：Flipping mode
23	DO1
24	DO2
25	DO3
26~28	Reserved
29	Frequency divider Phase A output
30	Frequency divider Phase B output
31	Frequency divider Phase Z output
</Remark></ParameterInfo><ParameterInfo Address="449" AnalyzeType="1"><Remark>When target position (value) is reached, position comparison output will be depended on 
the position comparison attribute value set.
Position comparison 1-42 is set in similar way</Remark></ParameterInfo><ParameterInfo Address="521" AnalyzeType="1"><Remark>Please refer to the table below to set DI5 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="523" AnalyzeType="1"><Remark>Please refer to the table below to set DI6 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="525" AnalyzeType="1"><Remark>Please refer to the table below to set DI7 signals and table on the right for corresponding pin and parameters


Signal			Symbol	Value


				NO	NC


Invalid			—	0	-


Positive limit switch		POT	1	81


Negative limit switch	NOT	2	82


Servo enabled		SRV-ON	3	83


Clear alarm		A-CLR	4	-


Control mode switching	C-MODE	5	85


Gain switching		GAIN	6	86


Clear deviation count	CL	7	-


Command pulse prohibited	INH	8	88


Torque limit switching	TL-SEL	9	89


Command frequency divider/


multiplier switching		DIV1	C	8C


Internal command velocity  1	INTSPD1	E	8E


Internal command velocity  2	INTSPD2	F	8F


Internal command velocity  3	INTSPD3	10	90


Zero speed clamp		ZEROSPD	11	91


Velocity command sign	VC-SIGN	12	92


Torque command sign	TC-SIGN	13	93


Forced alarm		E-STOP	14	94


Vibration suppression 1	VS-SEL1	0A	8A


Vibration suppression 2	VS-SEL2	0B	8B





 Please don’t set anything other than listed in table above.


 Normally open (NO) : Valid when input = ON 


 Normally close (NC): Valid when input = OFF


 Er210 might occur if same function is allocated to different channels at the same time


 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="527" AnalyzeType="1"><Remark>Please refer to the table below to set DI8 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="529" AnalyzeType="1"><Remark>Please refer to the table below to set DI9 signals and table on the right for corresponding pin and parameters

Signal			Symbol	Value

				NO	NC

Invalid			—	0	-

Positive limit switch		POT	1	81

Negative limit switch	NOT	2	82

Servo enabled		SRV-ON	3	83

Clear alarm		A-CLR	4	-

Control mode switching	C-MODE	5	85

Gain switching		GAIN	6	86

Clear deviation count	CL	7	-

Command pulse prohibited	INH	8	88

Torque limit switching	TL-SEL	9	89

Command frequency divider/

multiplier switching		DIV1	C	8C

Internal command velocity  1	INTSPD1	E	8E

Internal command velocity  2	INTSPD2	F	8F

Internal command velocity  3	INTSPD3	10	90

Zero speed clamp		ZEROSPD	11	91

Velocity command sign	VC-SIGN	12	92

Torque command sign	TC-SIGN	13	93

Forced alarm		E-STOP	14	94

Vibration suppression 1	VS-SEL1	0A	8A

Vibration suppression 2	VS-SEL2	0B	8B



 Please don’t set anything other than listed in table above.

 Normally open (NO) : Valid when input = ON 

 Normally close (NC): Valid when input = OFF

 Er210 might occur if same function is allocated to different channels at the same time

 Er211 might occur if the I/O channel is set to an invalid function</Remark></ParameterInfo><ParameterInfo Address="539" AnalyzeType="1"><Remark>Please allocate DO4 as per table below. ALARM logic is the opposite of others



Value		Signal			Symbol

NO	NC		

00	80	Invalid			—

01	81	Alarm 			ALARM

02	82	Servo-Ready		SRDY

03	83	External brake released	BRK-OFF

04	84	Positioning completed	INP

05	85	At-speed			AT-SPEED

06	86	Torque limit signal		TLC

07	87	Zero speed clamp detection 	ZSP

08	88	Velocity coincidence		V-COIN

12	92	Servo Status		SRV-ST

15	95	Positive limit valid		POT-OUT

16	96	Negative limit valid		NOT-OUT

0B	8B	Position command ON/OFF	P-CMD

0F	8F	Velocity command ON/OFF	V-CMD

0D	8D	Velocity limit signal		V-LIMIT

14	94	Position comparison		CMP-OUT



Same signal can be assigned to multiple different outputs.

Normally open(NO)：Active low

Normally close(NC)：Active high	

Err212 might occur if output is allocated to signals other than listed in the table above.

</Remark></ParameterInfo><ParameterInfo Address="541" AnalyzeType="1"><Remark>Please allocate DO5 as per table below. ALARM logic is the opposite of others



Value		Signal			Symbol

NO	NC		

00	80	Invalid			—

01	81	Alarm 			ALARM

02	82	Servo-Ready		SRDY

03	83	External brake released	BRK-OFF

04	84	Positioning completed	INP

05	85	At-speed			AT-SPEED

06	86	Torque limit signal		TLC

07	87	Zero speed clamp detection 	ZSP

08	88	Velocity coincidence		V-COIN

12	92	Servo Status		SRV-ST

15	95	Positive limit valid		POT-OUT

16	96	Negative limit valid		NOT-OUT

0B	8B	Position command ON/OFF	P-CMD

0F	8F	Velocity command ON/OFF	V-CMD

0D	8D	Velocity limit signal		V-LIMIT

14	94	Position comparison		CMP-OUT



Same signal can be assigned to multiple different outputs.

Normally open(NO)：Active low

Normally close(NC)：Active high	

Err212 might occur if output is allocated to signals other than listed in the table above.

</Remark></ParameterInfo><ParameterInfo Address="543" AnalyzeType="1"><Remark>Please allocate DO6 as per table below. ALARM logic is the opposite of others



Value		Signal			Symbol

NO	NC		

00	80	Invalid			—

01	81	Alarm 			ALARM

02	82	Servo-Ready		SRDY

03	83	External brake released	BRK-OFF

04	84	Positioning completed	INP

05	85	At-speed			AT-SPEED

06	86	Torque limit signal		TLC

07	87	Zero speed clamp detection 	ZSP

08	88	Velocity coincidence		V-COIN

12	92	Servo Status		SRV-ST

15	95	Positive limit valid		POT-OUT

16	96	Negative limit valid		NOT-OUT

0B	8B	Position command ON/OFF	P-CMD

0F	8F	Velocity command ON/OFF	V-CMD

0D	8D	Velocity limit signal		V-LIMIT

14	94	Position comparison		CMP-OUT



Same signal can be assigned to multiple different outputs.

Normally open(NO)：Active low

Normally close(NC)：Active high	

Err212 might occur if output is allocated to signals other than listed in the table above.

</Remark></ParameterInfo><ParameterInfo Address="1285" AnalyzeType="1"><Remark>To set the amplification of AO1, actual voltage output = amplification x theoretical voltage</Remark></ParameterInfo><ParameterInfo Address="1287" AnalyzeType="1"><Remark>Available when AO1 = 0xB</Remark></ParameterInfo><ParameterInfo Address="1289" AnalyzeType="1"><Remark>To set AO1 offset value.</Remark></ParameterInfo><ParameterInfo Address="1293" AnalyzeType="1"><Remark>To set AO2 output signal:

Bit 0 – 15: AO signal source; Bit 16 – 31: DO extension channel

Bit0~Bit15	Signal source
0x0		-
0x1		Motor rotational speed（V/krpm）
0x2		Position command velocity（V/krpm）
0x3		Internal position command velocity（V/krpm）
0x4		Torque command（0.03V/0.01）
0x5		Position command deviation（mV/Command unit）
0x6		Position command deviation（mV/Encoder unit）
0x7		Analog 1（V/V）
0x8		Analog 2（V/V）
0x9		Analog 3（V/V）
0xA		Extension DO（0V/5V）
0xB		As per Pr4.67

Bit 16 – 31: Only available when AO signal source = 0xA

Bit16~Bit31 	Channel
01h		Alarm output
02h		Servo ready
03h		External brake released
04h		Positioning completed
•••		Please refer to Pr4.10 for other signal channels
</Remark></ParameterInfo><ParameterInfo Address="1295" AnalyzeType="1"><Remark>To set the amplification of AO2, actual voltage output = amplification x theoretical voltage.</Remark></ParameterInfo><ParameterInfo Address="1299" AnalyzeType="1"><Remark>To set AO2 offset value.</Remark></ParameterInfo><ParameterInfo Address="1303" AnalyzeType="1"><Remark>To select warning signal for warning indicator light 2

Value	Signal
【0】	None
1	Negative limit
2	Battery low voltage
3	Overload
4	Torque limit
5	Positive limit
other	Reserved
</Remark></ParameterInfo><ParameterInfo Address="1305" AnalyzeType="1"><Remark>To select warning signal for warning indicator light 3

Value	Signal
【0】	None
1	Negative limit
2	Battery low voltage
3	Overload
4	Torque limit
5	Positive limit
other	Reserved
</Remark></ParameterInfo><ParameterInfo Address="1307" AnalyzeType="1"><Remark>To select warning signal for warning indicator light 4

Value	Signal
【0】	None
1	Negative limit
2	Battery low voltage
3	Overload
4	Torque limit
5	Positive limit
other	Reserved
</Remark></ParameterInfo><ParameterInfo Address="1309" AnalyzeType="1"><Remark>To select warning signal for warning indicator light 5

Value	Signal
【0】	None
1	Negative limit
2	Battery low voltage
3	Overload
4	Torque limit
5	Positive limit
other	Reserved
</Remark></ParameterInfo><ParameterInfo Address="1365" AnalyzeType="1"><Remark>To set the starting point of position comparison.</Remark></ParameterInfo><ParameterInfo Address="1361" AnalyzeType="1"><Remark>To set output signal pulse width of position comparison. </Remark></ParameterInfo><ParameterInfo Address="1363" AnalyzeType="1"><Remark>To set delay time compensation for delay due to DO/ frequency divider</Remark></ParameterInfo><ParameterInfo Address="1367" AnalyzeType="1"><Remark>To set the end point of position comparison.</Remark></ParameterInfo><ParameterInfo Address="1373" AnalyzeType="1"><Remark>To set offset value of position in comparison to origin set in Pr5.77</Remark></ParameterInfo><ParameterInfo Address="1297" AnalyzeType="1"><Remark>Available when AO2= 0xB</Remark></ParameterInfo><ParameterInfo Address="1283" AnalyzeType="1"><Remark>To set AO1 output signal:

Bit 0 – 15: AO signal source; Bit 16 – 31: DO extension channel

Bit0~Bit15	Signal source
0x0		-
0x1		Motor rotational speed（V/krpm）
0x2		Position command velocity（V/krpm）
0x3		Internal position command velocity（V/krpm）
0x4		Torque command（0.03V/0.01）
0x5		Position command deviation（mV/Command unit）
0x6		Position command deviation（mV/Encoder unit）
0x7		Analog 1（V/V）
0x8		Analog 2（V/V）
0x9		Analog 3（V/V）
0xA		Extension DO（0V/5V）
0xB		As per Pr4.67

Bit 16 – 31: Only available when AO signal source = 0xA

Bit16~Bit31 	Channel
01h		Alarm output
02h		Servo ready
03h		External brake released
04h		Positioning completed
•••		Please refer to Pr4.10 for other signal channels</Remark></ParameterInfo><ParameterInfo Address="701" AnalyzeType="1"><Remark>To set RS485 communication Baud rate.

Value	Baud rate
0	2400bps
1	4800bps
2	9600bps
3	19200bps
【4】	38400bps
5	57600bps
6	115200bps

Baud rate tolerance: 2400～38400bps±0.5%, 57600～115200bps±2%</Remark></ParameterInfo><ParameterInfo Address="699" AnalyzeType="1"><Remark>To set RS485 communication mode:

Value	Bit	Checksum		Stop
0	8	Even		2
1	8	Odd		2
2	8	Even		1
3	8	Odd		1
4	8	Null		1
【5】	8	Null		2
</Remark></ParameterInfo><ParameterInfo Address="703" AnalyzeType="1"><Remark>When controller is connected to multiple axis and controller needs to identify the axis, Pr5.31 can be used to set the axis ID/address. 
Please set to a max of 31 if the communication is between RS232 and RS485
</Remark></ParameterInfo><ParameterInfo Address="705" AnalyzeType="1"><Remark>Please set the max. frequency required for command pulse input. 
Er1B0 will occur, if command pulse input frequency exceeds Pr5.32.</Remark></ParameterInfo></root>
