<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.

Function settings:

Value	Description
0	Disable MFC
【1】	Enable the function to set bandwidth automatically, recommended for most applications. 
	Pr0.00=Pr1.01
2 ~ 9  	Reserved 

10&lt;Pr0.00&lt;5000: Manual bandwidth adjustments.
*Recommended settings for belt application: 30&lt;Pr0.00&lt;100.</Remark></ParameterInfo><ParameterInfo Address="3"><Remark>Set control modes：
9: EtherCAT mode	supports PP/PV/PT/HM/CSP/CSV/CST</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.
Note: Rotational direction of the motor is recommended to be set through object dictionary 607E. However, Pr0.06 has higher priority than object dictionary 607E. 
         607E only takes effect when Pr0.06 = 0.</Remark></ParameterInfo><ParameterInfo Address="15"><Remark>To set probe signal polarity.
Value	Description
0	Probe 1 &amp; 2 polarity inversion
1	Probe 2 polarity inversion
2	Probe 1 polarity inversion
3	No polarity inversion for probe 1 &amp; 2</Remark></ParameterInfo><ParameterInfo Address="17"><Remark>Pulses per revolution can be set using object dictionary 608F, 6091, 6092. 
However, Pr0.08 has higher priority.</Remark></ParameterInfo><ParameterInfo Address="27"><Remark>1st torque limit is set according to ratio percentage of motor rated current. 
Do not exceed max driver output current.
Actual torque limit is the smaller value of Pr0.13 and object dictionary 6072</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 absolute encoder type and mode.

0: Incremental mode: 
    Used as an incremental encoder. Doesn’t retain position data on power off. Unlimited travel distance.
1: Multiturn linear mode: 
    Used as a multiturn absolute encoder. Retrain position data on power off. For applications with fixed travel distance and no multiturn data overflow. 
2: Multiturn rotary mode:
    Used as a multiturn absolute encoder. Retrain position data on power off. Actual data feedback in between 0-(Pr6.63). Unlimited travel distance.
3: Single turn absolute mode:
    Used when travel distance is within 1 revolution of the encoder. Data overflow will trigger alarm.
5: 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: 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 Pr0.17 determines the threshold value of Er 120. 
Please set accordingly or it might trigger false alarm or damage to servo driver.</Remark></ParameterInfo><ParameterInfo Address="35"><Remark>To set power rating of regenerative resistor. Please refer to table below for internal regenerative resistor specifications.
Pr0.16 and Pr0.17 determines the threshold value of Er 120. 
Please set accordingly or it might trigger false alarm or damage to servo driver.
Note: If external regenerative resistor is used, please set according to its labeled power rating.</Remark></ParameterInfo><ParameterInfo Address="47"><Remark>Set ID number of the slave station under EtherCAT mode</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="49"><Remark>0: Master device automatically assigns a slave address.
1：The slave ID = Pr0.23</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>If auto gain adjusting function is not enabled, Pr1.02 is activated. 
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.
Recommended range: 50000≤PA1.01xPA1.02≤150000

For example: Velocity loop gain Pr1.01=500(0.1Hz), which is 50Hz. 
Integral time constant of velocity loop should be 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.</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>To set gain switching condition.</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 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 adaptive filter as presumptive resonance method and action after the presumption.
Value	Description
0	Adaptive filter: invalid	              Parameters related to 3rd and 4th 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.
3-4	Reserved	                                           -</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, incombination 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</Remark></ParameterInfo><ParameterInfo Address="273"><Remark>et notch bandwidth for 3rd resonant notch filter.
Under normal circumstances, please use factory default settings. 
If resonance is under control, in combination with Pr2.07 and Pr2.09, Pr2.07 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.</Remark></ParameterInfo><ParameterInfo Address="275"><Remark>Set notch depth for 3rd resonant notch filter.
When Pr2.09 value is higher, notch depth becomes shallow, phase lag reduces. 
Under normal circumstances, please use factory default settings. 
If resonance is under control, incombination with Pr2.07 and Pr2.08, Pr2.09 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.</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>To set 2nd damping frequency. 
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. </Remark></ParameterInfo><ParameterInfo Address="301"><Remark>To set time constant of 1 time delay filter of position command.
To set time constant of 1 time delay filter, according to target velocity Vc square wave 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>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. 

**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.

Under velocity control mode, 6083 and 6084 is limited by Pr3.12 and Pr3.13 correspondingly.</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.
Under velocity control mode, 6083 and 6084 is limited by Pr3.12 and Pr3.13 correspondingly.</Remark></ParameterInfo><ParameterInfo Address="413"><Remark>To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and Pr3.13.
Sigmoid curve using acceleration/deceleration as the center of the turning point.</Remark></ParameterInfo><ParameterInfo Address="417"><Remark>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 delay time for zero speed clamp.
To prevent creeping at low speed, velocity command forced to 0 when velocity goes under Pr3.16 after time set in Pr3.23</Remark></ParameterInfo><ParameterInfo Address="513"><Remark>Digital input DI allocation using hexadecimal system 
Input		Symbol		Set value				0x60FD(bit)
				Normally open	Normally close	
Invalid		—		0h		-		×
Positive limit switch	POT		1h		81h		Bit1
Negative limit switchNOT		2h		82h		Bit0
Clear alarm	A-CLR		4h		-		×
Forced alarm	E-STOP		14h		94h		×
Home switch	HOME-SWITCH	16h		96h		Bit2

•	Please don’t set anything other than listed in table above.
•	Normally open: Valid when input = ON  Normally close: Valid when input = OFF
•	Er210 might occur if same function is allocated to different channels at the same time
•	Channel that has no value doesn’t affect driver motion.
•	Front panel is of hexadecimal system. 
•	Pr4.00 – Pr4.07 corresponds to DI1 – DI8. External sensors can be connected if the parameters are all set to 0. 
	Controller will read 60FD bit4 – 11 to get DI1 – DI8 actual status.</Remark></ParameterInfo><ParameterInfo Address="515"><Remark>Digital input DI allocation using hexadecimal system 
Input		Symbol		Set value				0x60FD(bit)
				Normally open	Normally close	
Invalid		—		0h		-		×
Positive limit switch	POT		1h		81h		Bit1
Negative limit switchNOT		2h		82h		Bit0
Clear alarm	A-CLR		4h		-		×
Forced alarm	E-STOP		14h		94h		×
Home switch	HOME-SWITCH	16h		96h		Bit2

•	Please don’t set anything other than listed in table above.
•	Normally open: Valid when input = ON  Normally close: Valid when input = OFF
•	Er210 might occur if same function is allocated to different channels at the same time
•	Channel that has no value doesn’t affect driver motion.
•	Front panel is of hexadecimal system. 
•	Pr4.00 – Pr4.07 corresponds to DI1 – DI8. External sensors can be connected if the parameters are all set to 0. 
	Controller will read 60FD bit4 – 11 to get DI1 – DI8 actual status.</Remark></ParameterInfo><ParameterInfo Address="517"><Remark>Digital input DI allocation using hexadecimal system 
Input		Symbol		Set value				0x60FD(bit)
				Normally open	Normally close	
Invalid		—		0h		-		×
Positive limit switch	POT		1h		81h		Bit1
Negative limit switchNOT		2h		82h		Bit0
Clear alarm	A-CLR		4h		-		×
Forced alarm	E-STOP		14h		94h		×
Home switch	HOME-SWITCH	16h		96h		Bit2

•	Please don’t set anything other than listed in table above.
•	Normally open: Valid when input = ON  Normally close: Valid when input = OFF
•	Er210 might occur if same function is allocated to different channels at the same time
•	Channel that has no value doesn’t affect driver motion.
•	Front panel is of hexadecimal system. 
•	Pr4.00 – Pr4.07 corresponds to DI1 – DI8. External sensors can be connected if the parameters are all set to 0. 
	Controller will read 60FD bit4 – 11 to get DI1 – DI8 actual status.

</Remark></ParameterInfo><ParameterInfo Address="519"><Remark>Digital input DI allocation using hexadecimal system 
Input		Symbol		Set value				0x60FD(bit)
				Normally open	Normally close	
Invalid		—		0h		-		×
Positive limit switch	POT		1h		81h		Bit1
Negative limit switchNOT		2h		82h		Bit0
Clear alarm	A-CLR		4h		-		×
Forced alarm	E-STOP		14h		94h		×
Home switch	HOME-SWITCH	16h		96h		Bit2

•	Please don’t set anything other than listed in table above.
•	Normally open: Valid when input = ON  Normally close: Valid when input = OFF
•	Er210 might occur if same function is allocated to different channels at the same time
•	Channel that has no value doesn’t affect driver motion.
•	Front panel is of hexadecimal system. 
•	Pr4.00 – Pr4.07 corresponds to DI1 – DI8. External sensors can be connected if the parameters are all set to 0. 
	Controller will read 60FD bit4 – 11 to get DI1 – DI8 actual status.</Remark></ParameterInfo><ParameterInfo Address="533"><Remark>Digital output DO allocation using hexadecimal system.

Output			Symbol	Set value
				Normally open	Normally close
Master device control	—	00h		-
Alarm 			ALM	01h		81h
Servo-Ready		S-RDY	02h		82h
External brake released	BRK-OFF	03h		83h
Positioning completed	INP	04h		84h
At-speed			AT-SPEED05h		85h
Torque limit signal		TLC	06h		86h
Zero speed clamp detection 	ZSP	07h		87h
Velocity coincidence		V-COIN	08h		88h
Position command ON/OFF	P-CMD	0Bh		8Bh
Velocity limit signal		V-LIMIT	0Dh		8Dh
Velocity command ON/OFF	V-CMD	0Fh		8Fh
Servo status		SRV-ST	12h		92h
Homing done		HOME-OK	22h		A2h
Position comparison		CMP-OUT	14h		94h

Please don’t set any other than the outputs listed in the table above.
•	Normally open：Active low
•	Normally close：Active high
•	Front panel is of hexadecimal system. 
•	Pr4.10 – Pr4.12 corresponds to DO1 – DO3. 
	If all parameters are set to 0, master device controls the outputs, object dictionary 0x60FE sub-index 01 bit16-18 corresponds to DO1-DO3</Remark></ParameterInfo><ParameterInfo Address="535"><Remark>Digital output DO allocation using hexadecimal system.

Output			Symbol	Set value
				Normally open	Normally close
Master device control	—	00h		-
Alarm 			ALM	01h		81h
Servo-Ready		S-RDY	02h		82h
External brake released	BRK-OFF	03h		83h
Positioning completed	INP	04h		84h
At-speed			AT-SPEED05h		85h
Torque limit signal		TLC	06h		86h
Zero speed clamp detection 	ZSP	07h		87h
Velocity coincidence		V-COIN	08h		88h
Position command ON/OFF	P-CMD	0Bh		8Bh
Velocity limit signal		V-LIMIT	0Dh		8Dh
Velocity command ON/OFF	V-CMD	0Fh		8Fh
Servo status		SRV-ST	12h		92h
Homing done		HOME-OK	22h		A2h
Position comparison		CMP-OUT	14h		94h

Please don’t set any other than the outputs listed in the table above.
•	Normally open：Active low
•	Normally close：Active high
•	Front panel is of hexadecimal system. 
•	Pr4.10 – Pr4.12 corresponds to DO1 – DO3. 
	If all parameters are set to 0, master device controls the outputs, object dictionary 0x60FE sub-index 01 bit16-18 corresponds to DO1-DO3
</Remark></ParameterInfo><ParameterInfo Address="537"><Remark>Digital output DO allocation using hexadecimal system.

Output			Symbol	Set value
				Normally open	Normally close
Master device control	—	00h		-
Alarm 			ALM	01h		81h
Servo-Ready		S-RDY	02h		82h
External brake released	BRK-OFF	03h		83h
Positioning completed	INP	04h		84h
At-speed			AT-SPEED05h		85h
Torque limit signal		TLC	06h		86h
Zero speed clamp detection 	ZSP	07h		87h
Velocity coincidence		V-COIN	08h		88h
Position command ON/OFF	P-CMD	0Bh		8Bh
Velocity limit signal		V-LIMIT	0Dh		8Dh
Velocity command ON/OFF	V-CMD	0Fh		8Fh
Servo status		SRV-ST	12h		92h
Homing done		HOME-OK	22h		A2h
Position comparison		CMP-OUT	14h		94h

Please don’t set any other than the outputs listed in the table above.
•	Normally open：Active low
•	Normally close：Active high
•	Front panel is of hexadecimal system. 
•	Pr4.10 – Pr4.12 corresponds to DO1 – DO3. 
	If all parameters are set to 0, master device controls the outputs, object dictionary 0x60FE sub-index 01 bit16-18 corresponds to DO1-DO3

</Remark></ParameterInfo><ParameterInfo Address="575"><Remark>To set position deviation range of INP1 positioning completed output signal.

·Default unit: 0.0001rev. Set unit on Pr5.20. Can be set as command or encoder unit (Pulse)</Remark></ParameterInfo><ParameterInfo Address="577"><Remark>Output conditions of INP1 positioning completed output signal
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>To set delay time when Pr 4.32 = 3
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 10RPM. </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 including 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.
Valid when Pr5.06 = 0, Servo enabled signal SRV-ON off, dynamic brake is activated(Delay time according to Pr4.39 or Pr6.14），
After the delay time set in Pr4.37, motor is powered off and motor power cable current is off.</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.</Remark></ParameterInfo><ParameterInfo Address="599"><Remark>To choose if motor is forced to stop through servo drive under emergency situation
Value	Description 
0            Emergency stop is valid, servo driver will be forced to STOP and alarm occurs.
1            Emergency stop is invalid, servo driver will not be forced to STOP.</Remark></ParameterInfo><ParameterInfo Address="649"><Remark>To set driver prohibition input (POT/NOT): If set to 1, no effect on homing mode.

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

In homing mode, POT/NOT invalid, please set object dictionary 5012-04 bit0=1</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 duration 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 class 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 class 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.
Between max. torque 6072 and Pr5.11, actual torque limit will take smaller value.</Remark></ParameterInfo><ParameterInfo Address="665"><Remark>If Pr5.12 = 0, overload level = 115%
Use only when overload level degradation is needed.</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>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>Value	Positive limit value	Negative limit value
0	Pr0.13	              Pr0.13
1	Pr0.13	              Pr5.22
2	60E0	              60E1
3-6          Reserved

Between max. torque 6072 and Pr5.21, actual torque limit will take smaller value.</Remark></ParameterInfo><ParameterInfo Address="685"><Remark>Limited by motor max. torque.
Between max. torque 6072 and Pr5.22, actual torque limit will take smaller value.</Remark></ParameterInfo><ParameterInfo Address="697"><Remark>To set content display on front panel of the servo driver at servo driver power on. 
Value	Content	                                          Value	Content				Value	Content
0	Position command deviation	              15	Overload rate			30	No. of encoder communication error
1	Motor speed	              	16	Inertia ratio			31	Accumulated operation time
2	Position command velocity		17	No rotation cause			32	Automatic motor identification
3	Velocity control command		18	No. of changes in I/O signals		33	Driver temperature
4	Actual feedback torque		19	Number of over current signals	34	Servo status
5	Sum of feedback pulse		20	Absolute encoder data		35	/
6	Sum of command pulse		21	Single turn position			36	Synchronous period
7	Maximum torque during motion	22	Multiturn position			37	No. of synchronous loss
8	/				23	Communication axis address		38	Synchronous type
9	Control mode			24	Encoder position deviation		39	Whether DC is running or not
10	I/O signal status			25	Motor electrical angle		40	Acceleration/Deceleration status
11	/				26	Motor mechanical Angle		41	Sub-index of OD index
12	Error cause and history record		27	Voltage across PN			42	Value of sub-index of OD index
13	Alarm code			28	Software version		
14	Regenerative load rate		29	/</Remark></ParameterInfo><ParameterInfo Address="715"><Remark>To set time threshold for output torque to reach limit under torque initialization mode.
Only applicable for torque initialization method -6 to -1
Under torque initialization mode, motor torque reached Pr5.39 and the duration reaches Pr5.37 before moving into next step.</Remark></ParameterInfo><ParameterInfo Address="719"><Remark>To set torque limit during torque initialization
Between max. torque 6072 and Pr5.22, actual torque limit will take smaller value.</Remark></ParameterInfo><ParameterInfo Address="721"><Remark>Set object word monitored by D41, index (left 4 bits) + sub-index (right 1 bit), if monitoring 0x6092-01, set Pr5.40 to 0x60921.</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 
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.</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.</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 after each motion</Remark></ParameterInfo><ParameterInfo Address="813"><Remark>JOG (Position control) : No. of 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; Modifications are not recommended.
x： Unit ：%，Manual，related to encoder, motor and load.</Remark></ParameterInfo><ParameterInfo Address="837"><Remark>To set EtherCAT data frame error detection window time</Remark></ParameterInfo><ParameterInfo Address="839"><Remark>To set EtherCAT data frame error detection window.</Remark></ParameterInfo><ParameterInfo Address="877"><Remark>To set denominator of absolute encoder in rotational mode.
When Pr0.15 = 2 and use in combination with Pr6.54: 
Feedback load position 6064=(Pr6.63/Pr6.54) x Electronic gear ratio</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 to trigger.
Alarm triggered if torque output% larger than threshold value &amp; under 10rpm.
If motor speed is 10rpm or above, Er102 won’t be triggered.</Remark></ParameterInfo><ParameterInfo Address="887"><Remark>To set position threshold for homing mode.</Remark></ParameterInfo><ParameterInfo Address="891"><Remark>To set the holding time for Z signal to maintain active high
Application:
1. Z signal for 60FDH；
2. Z signal for homing process
3. Z-phase frequency output pulse width. Unit = 0.1ms;

Please set Pr6.61≥0.2ms if used for 3 applications as above</Remark></ParameterInfo><ParameterInfo Address="895"><Remark>Applicable when Pr0.15 = 2, feedback position cycles between 0~（Pr6.63+1） x encoder resolution</Remark></ParameterInfo></root>
