Parameters list - RS

Parameters list

Pr0.0 0
Classification code Sub-code

Valid mode:
P: Valid in position control mode
S: Valid in velocity control mode
T: Valid in torque control mode
PR: Valid in PR control mode

Activation:
“O” – Restart driver for parameter changes to be valid
“—” – Valid immediately
“△” – Valid when axis stops
“●”- Valid after re-enabling

[Class 0] Basic settings

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr0.00 Model-following bandwidth 1 △ O — — 16bit R/W 0x0001
Pr0.01 Control Mode Settings 0 O O O O 16bit R/W 0x0003
Pr0.02 Real time Auto Gain Adjusting 0x1 — O O O 16bit R/W 0x0005
Pr0.03 Real time auto stiffness adjusting 11 — O O O 16bit R/W 0x0007
Pr0.04 Inertia ratio 250 — O O O 16bit R/W 0x0009
Pr0.05 Command pulse input selection 0 O O — — 16bit R/W 0x000B
Pr0.06 Command pulse polarity inversion 0 O O — — 16bit R/W 0x000D
Pr0.07 Command pulse input mode 3 O O — — 16bit R/W 0x000F
0x0010
Pr0.08 1st command pulse count per revolution 10000 O O — — 32bit R/W
0x0011
1st command frequency 0x0012
Pr0.09 1 — — 32bit R/W
divider/multiplier numerator O O 0x0013
1st command frequency 0x0014
Pr0.10 1 — — 32bit R/W
divider/multiplier denominator O O 0x0015
Encoder output pulse count per
Pr0.11 2500 O O O O 16bit R/W 0x0017
revolution
Pr0.12 Pulse output logic inversion 0 O O O O 16bit R/W 0x0019
Pr0.13 1st Torque Limit 350 — O O O 16bit R/W 0x001B
Pr0.14 Excessive position deviation 30 — O — — 16bit R/W 0x001D
Pr0.15 Absolute Encoder settings 0 O O O O 16bit R/W 0x001F
 Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr0.16 Regenerative resistance 100 — O O O 16bit R/W 0x0021
Pr0.17 Regenerative resistor power rating 50 — O O O 16bit R/W 0x0023
Pr0.22 PR and P/S/T switching 0 — O O O 16bit R/W 0x002D
Pr0.25 Auxiliary function 0 — O O O 16bit R/W 0x0033
Pr0.26 Simulated I/O 0 — O O O 16bit R/W 0x0035
Pr0.30 Encoder feedback mode 0 — O O O 16bit R/W 0x0037
Pr0.31 External encoder type 0 O O O O 16bit R/W 0x0039
Pr0.32 External encoder direction 0 O O O O 16bit R/W 0x003B
Pr0.33 Excessive hybrid deviation 16000 O O 16bit R/W 0x0043
Pr0.34 Clear excess hybrid control deviation 0 O O 16bit R/W 0x0045
External encoder frequency divider
Pr0.35 0 O O O O 16bit R/W 0x0047
numerator
External encoder frequency divider
Pr0.36 10000 O O O O 16bit R/W 0x0049
denominator
External encoder feedback pulse count
Pr0.37 0 O O O O 16bit R/W 0x004B
per revolution
Pr0.38 Z-signal pulse input source 0 — O O O 16bit R/W 0x004D
R/W 0x0050
Pr0.40 Mapping parameter 1 0x0 — O O O 32bit
* 0x0051
R/W 0x0052
Pr0.41 Mapping parameter 2 0x0 — O O O 32bit
* 0x0053
R/W 0x0054
Pr0.42 Mapping parameter 3 0x0 — O O O 32bit
* 0x0055
R/W 0x0056
Pr0.43 Mapping parameter 4 0x0 — O O O 32bit
* 0x0057
R/W 0x0058
Pr0.44 Mapping parameter 5 0x0 — O O O 32bit
* 0x0059
R/W 0x005A
Pr0.45 Mapping parameter 6 0x0 — O O O 32bit
* 0x005b
R/W 0x005C
Pr0.46 Mapping parameter 7 0x0 — O O O 32bit
* 0x005d
R/W 0x005E
Pr0.47 Mapping parameter 8 0x0 — O O O 32bit
* 0x005F
0x0049 0x0064
Pr0.50 Mapping parameter 1 indicator — O O O 32bit R/W
0049 0x0065
0x0049 0x0066
Pr0.51 Mapping parameter 2 indicator — O O O 32bit R/W
0049 0x0067
0x0049 0x0068
Pr0.52 Mapping parameter 3 indicator — O O O 32bit R/W
0049 0x0069
0x0049 0x006A
Pr0.53 Mapping parameter 4 indicator — O O O 32bit R/W
0049 0x006B
 Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
0x0049 0x006C
Pr0.54 Mapping parameter 5 indicator — O O O 32bit R/W
0049 0x006D
0x0049 0x006E
Pr0.55 Mapping parameter 6 indicator — O O O 32bit R/W
0049 0x007F
0x0049 0x0070
Pr0.56 Mapping parameter 7 indicator — O O O 32bit R/W
0049 0x0071
0x0049 0x0072
Pr0.57 Mapping parameter 8 indicator — O O O 32bit R/W
0049 0x0073

[Class 1] Gain adjustment

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr1.00 1st position loop gain 320 — O — — 16bit R/W 0x0101
Pr1.01 1st velocity loop gain 180 — O O O 16bit R/W 0x0103
1st Integral Time Constant of Velocity
Pr1.02 310 — O O O 16bit R/W 0x0105
Loop
Pr1.03 1st velocity detection filter 15 — O O O 16bit R/W 0x0107
Pr1.04 1st Torque Filter Time Constant 126 — O O O 16bit R/W 0x0109
Pr1.05 2nd Position Loop Gain 380 — O — — 16bit R/W 0x010B
Pr1.06 2nd velocity loop gain 180 — O O O 16bit R/W 0x010D
2nd Integral Time Constant of Velocity
Pr1.07 10000 — O O O 16bit R/W 0x010F
Loop
Pr1.08 2nd velocity detection filter 15 — O O O 16bit R/W 0x0111
Pr1.09 2nd Torque Filter Time Constant 126 — O O O 16bit R/W 0x0113
Pr1.10 Velocity feed forward gain 300 — O — — 16bit R/W 0x0115
Velocity feed forward filter time
Pr1.11 50 — O — — 16bit R/W 0x0117
constant
Pr1.12 Torque feed forward gain 0 — O O — 16bit R/W 0x0119
Torque feed forward filter time
Pr1.13 0 — O O — 16bit R/W 0x011B
constant
Pr1.15 Position control gain switching mode 0 — O — — 16bit R/W 0x011F
Pr1.17 Position control gain switching level 50 — O — — 16bit R/W 0x0123
Hysteresis at position control
Pr1.18 33 — O — — 16bit R/W 0x0125
switching
Pr1.19 Position control switching time 33 — O — — 16bit R/W 0x0127
Pr1.35 Position command pulse filter time 8 O O — — 16bit R/W 0x0147
Pr1.36 External ABZ encoder filter time 3 O O — — 16bit R/W 0x0149
Pr1.39 Special function register 2 0 — O O O 16bit R/W 0x014F
[Class 2] Vibration Suppression
Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr2.00 Adaptive filtering mode settings 0 — O O — 16bit R/W 0x0201
Pr2.01 1st notch frequency 4000 — O O O 16bit R/W 0x0203
Pr2.02 1st notch width 4 — O O O 16bit R/W 0x0205
Pr2.03 1st notch depth 0 — O O O 16bit R/W 0x0207
Pr2.04 2nd notch frequency 4000 — O O O 16bit R/W 0x0209
Pr2.05 2nd notch width 4 — O O O 16bit R/W 0x020B
Pr2.06 2nd notch depth 0 — O O O 16bit R/W 0x020D
Pr2.07 3rd notch frequency 4000 — O O O 16bit R/W 0x020F
Pr2.08 3rd notch width 4 — O O O 16bit R/W 0x0211
Pr2.09 3rd notch depth 0 — O O O 16bit R/W 0x0213
Pr2.14 1st damping frequency 0 — O — — 16bit R/W 0x021D
Pr2.16 2nd damping frequency 0 — O — — 16bit R/W 0x0221
Pr2.22 Position command smoothing filter 0 △ O — — 16bit R/W 0x022D
Pr2.23 Position command FIR filter 0 △ O — — 16bit R/W 0x022F
Pr2.48 Adjustment mode 0 — O O O 16bit R/W 0x0261
Pr2.50 MFC type 0 ● O — — 16bit R/W 0x0265
Velocity feedforward compensation
0 — O — — 16bit R/W 0x0267
Pr2.51 coefficient
Torque feedforward compensation
0 — O O — 16bit R/W 0x0269
Pr2.52 coefficient
Dynamic friction compensation
0 — O O O 16bit R/W 0x026B
Pr2.53 coefficient
Pr2.54 Overshoot time coefficient 0 — O O O 16bit R/W 0x026D
Pr2.55 Overshoot suppression gain 0 — O O O 16bit R/W 0x026F

[Class 3] Velocity / Torque Control

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr3.00 Velocity internal/external switching 1 — — O — 16bit R/W 0x0301
Velocity command rotational direction
Pr3.01 0 — — O — 16bit R/W 0x0303
selection
Pr3.02 Velocity command input gain 500 — — O O 16bit R/W 0x0305
Pr3.03 Velocity command input inversion 0 — — O — 16bit R/W 0x0307
Pr3.04 1st speed of velocity setting 0 — — O — 16bit R/W 0x0309
Pr3.05 2nd speed of velocity setting 0 — — O — 16bit R/W 0x030B
Pr3.06 3rd speed of velocity setting 0 — — O — 16bit R/W 0x030D
Pr3.07 4th speed of velocity setting 0 — — O — 16bit R/W 0x030F
Pr3.08 5th speed of velocity setting 0 — — O — 16bit R/W 0x0311
Pr3.09 6th speed of velocity setting 0 — — O — 16bit R/W 0x0313
Pr3.10 7th speed of velocity setting 0 — — O — 16bit R/W 0x0315
Pr3.11 8th speed of velocity setting 0 — — O — 16bit R/W 0x0317
Pr3.12 Acceleration time settings 100 — — O — 16bit R/W 0x0319
Pr3.13 Deceleration time settings 100 — — O — 16bit R/W 0x031B
Pr3.14 Sigmoid acceleration/deceleration 0 O — O — 16bit R/W 0x031D
 Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
settings
Pr3.15 Zero speed clamp function selection 0 — — O — 16bit R/W 0x031F
Pr3.16 Zero speed clamp level 30 — — O — 16bit R/W 0x0321
Pr3.17 Torque internal/external switching 0 — — — O 16bit R/W 0x0323
Pr3.18 Torque command direction selection 0 — — — O 16bit R/W 0x0325
Pr3.19 Torque command input gain 30 — — — O 16bit R/W 0x0327
Pr3.20 Torque command input inversion 0 — — — O 16bit R/W 0x0329
Pr3.21 Velocity limit in torque mode 0 — — — O 16bit R/W 0x032B
Pr3.22 Torque command 0 — O O O 16bit R/W 0x032D
Pr3.23 Zero speed delay time in velocity mode 0 — — O — 16bit R/W 0x032F
Pr3.24 Maximum motor rotational speed 0 — O O O 16bit R/W 0x0331
Pr3.29 Analog 1 clamping voltage 0 — — — O 16bit R/W 0x033B
Pr3.30 Analog 3 clamping voltage 0 — — — O 16bit R/W 0x033D
0x0340
Pr3.32~
Position comparison 1~42 target value 0 — O O O 32bit R/W ~
Pr3.73
0x0393
Position comparison 1 and 2 attribute 0x0394
Pr3.74 0 — O O O 32bit R/W
value 0x0395
Position comparison 3 and 4 attribute 0x0396
Pr3.75 0 — O O O 16bit R/W
value 0x0397
0x0398
Pr3.76~ Position comparison x and y attribute
0 — O O O 16bit R/W ~0x03B
Pr3.94 value
D

[Class 4] I/O Monitoring Settings

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr4.00 Input selection DI1 0x3 — O O O 16bit R/W 0x0401
Pr4.01 Input selection DI2 0x1 — O O O 16bit R/W 0x0403
Pr4.02 Input selection DI3 0x2 — O O O 16bit R/W 0x0405
Pr4.03 Input selection DI4 0x6 — O O O 16bit R/W 0x0407
Pr4.04 Input selection DI5 0xC — O O O 16bit R/W 0x0409
Pr4.05 Input selection DI6 0x7 — O O O 16bit R/W 0x040B
Pr4.06 Input selection DI7 0x4 — O O O 16bit R/W 0x040D
Pr4.07 Input selection DI8 0x5 — O O O 16bit R/W 0x040F
Pr4.08 Input selection DI9 0x8 — O O O 16bit R/W 0x0411
Pr4.09 Input selection DI10 0x0 — O O O 16bit R/W 0x0413
Pr4.10 Output selection DO1 0x3 — O O O 16bit R/W 0x0415
Pr4.11 Output selection DO2 0x2 — O O O 16bit R/W 0x0417
Pr4.12 Output selection DO3 0x1 — O O O 16bit R/W 0x0419
Pr4.13 Output selection DO4 0x4 — O O O 16bit R/W 0x041B
Pr4.14 Output selection DO5 0x7 — O O O 16bit R/W 0x041D
Pr4.15 Output selection DO6 0x6 — O O O 16bit R/W 0x041F
Pr4.22 Analog input 1(AI-1) Zero drift settings 0 — — O O 16bit R/W 0x042D
 Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr4.23 Analog input 1(AI-1) filter 0 — — O O 16bit R/W 0x042F
Pr4.24 Analog input 1(AI-1) overvoltage settings 0 — — O O 16bit R/W 0x0431
Pr4.25 Analog input 2(AI-2) Zero drift settings 0 — — O O 16bit R/W 0x0439
Pr4.26 Analog input 2(AI-2) filter 0 — — O O 16bit R/W 0x043B
Pr4.27 Analog input 2(AI-2) overvoltage settings 0 — — — O 16bit R/W 0x043D
Pr4.28 Analog input 3(AI-3) Zero drift settings 20 — O — — 16bit R/W 0x043F
Pr4.29 Analog input 3(AI-3) filter 1 — O — — 16bit R/W 0x0441
Pr4.30 Analog input 3(AI-3) overvoltage settings 0 — O — — 16bit R/W 0x0443
Pr4.31 Positioning complete range 50 — O O O 16bit R/W 0x0445
Pr4.32 Positioning complete output setting 50 — — O — 16bit R/W 0x0447
Pr4.33 INP positioning delay time 1000 — — O — 16bit R/W 0x0449
Pr4.34 Zero speed 150 — O O O 16bit R/W 0x044B
Pr4.35 Velocity coincidence range 0 — O O O 16bit R/W 0x044D
Pr4.36 Arrival velocity 30 — O O O 16bit R/W 0x044F
Pr4.43 Emergency stop function 0 — O O O 16bit R/W 0x0457
Pr4.64 AO1 output 0 — O O O 16bit R/W 0x0481
Pr4.65 AO1 signal 0x4 — O O O 16bit R/W 0x0483
Pr4.66 AO1 amplification 100 — O O O 16bit R/W 0x0485
Pr4.67 AO1 communication settings 0 — O O O 16bit R/W 0x0487
Pr4.68 AO1 offset 0 — O O O 16bit R/W 0x0489
Pr4.69 AO2 output 0 — O O O 16bit R/W 0x048B
Pr4.70 AO2 signal 0x1 — O O O 16bit R/W 0x048D
Pr4.71 AO2 amplification 100 — O O O 16bit R/W 0x048F
Pr4.72 AO2 communication settings 0 — O O O 16bit R/W 0x0491
Pr4.73 AO2 offset 0 — O O O 16bit R/W 0x0493
Pr4.74 Warning indicator light 1 signal 1 — O O O 16bit R/W 0x0495
Pr4.75 Warning indicator light 2 signal 2 — O O O 16bit R/W 0x0497
Pr4.76 Warning indicator light 3 signal 3 — O O O 16bit R/W 0x0499
Pr4.77 Warning indicator light 4 signal 4 — O O O 16bit R/W 0x049B
Pr4.78 Warning indicator light 5 signal 5 — O O O 16bit R/W 0x049D
[Class 5] Extension settings
Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
0x0500
Pr5.00 2nd pulse count per revolution 10000 O O — — 32bit R/W
0x0501
2nd Command frequency divider/multiplier 0x0502
Pr5.01 1 O O — — 32bit R/W
numerator 0x0503
2nd Command frequency divider/multiplier 0x0504
Pr5.02 1 O O — — 32bit R/W
denominator 0x0505
Pr5.04 Driver prohibition input settings 0 — O O O 16bit R/W 0x0509
Pr5.06 Servo-off mode 0 — O O O 16bit R/W 0x050D
Pr5.08 DC bus voltage undervoltage 50 — O O O 16bit R/W 0x0513
Pr5.09 Main power-off detection time 0 O O O O 16bit R/W 0x0515
Pr5.10 Servo-off due to alarm mode 0 — O O O 16bit R/W 0x0517
Pr5.11 Servo braking torque setting 0 — O O O 16bit R/W 0x0519
Pr5.12 Overload level setting 0 — O O O 16bit R/W 0x051B
Pr5.15 I/O digital filter 0 O O O O 16bit R/W 0x051F
Pr5.17 Counter clearing input mode 3 — O — — 16bit R/W 0x0523
Pr5.20 Position unit settings 1 — O — — 16bit R/W 0x0529
Pr5.21 Torque limit selection 0 — O O O 16bit R/W 0x052B
Pr5.22 2nd torque limit 300 — O O O 16bit R/W 0x052D
Pr5.23 Positive torque warning threshold 0 — O O O 16bit R/W 0x052F
Pr5.24 Negative torque warning threshold 0 — O O O 16bit R/W 0x0531
Pr5.28 LED initial status 1 — O O O 16bit R/W 0x0539
Pr5.29 RS485 communication mode 0x5 — O O O 16bit R/W 0x053B
Pr5.30 RS485 communication Baud rate 4 — O O O 16bit R/W 0x053D
Pr5.31 RS485 axis address 1 — O O O 16bit R/W 0x053F
Pr5.32 Max. command pulse input frequency 0 — O — — 16bit R/W 0x0541
Pr5.35 Front panel lock setting 0 — O O O 16bit R/W 0x0547
Pr5.37 Torque saturation alarm detection time 500 — O O O 16bit R/W 0x0549
Pr5.42 Frequency divider output – Z-signal polarity 0 O O O O 16bit R/W 0x0555
Pr5.43 Frequency divider output – Z-signal width 0 O O O O 16bit R/W 0x0557
Pr5.44 Frequency divider output source 0 O O O O 16bit R/W 0x0559
External encoder overspeed feedback
Pr5.45 0 O O O O 16bit R/W 0x055D
threshold
Pr5.70 Enable position comparison 0 — O — — 16bit R/W 0x058D
Pr5.71 Position comparison mode 0 — O — — 16bit R/W 0x058F
Position comparison pulse output
Pr5.72 0 — O — — 16bit R/W 0x0591
bandwidth
Pr5.73 Position comparison output delay offset 0 — O — — 16bit R/W 0x0593
Pr5.74 Position comparison starting point 1 — O — — 16bit R/W 0x0595
Pr5.75 Position comparison end point 2 — O — — 16bit R/W 0x0597
Pr5.76 No. of cycles for N cycle comparison 1 — O — — 16bit R/W 0x0599
Position comparison – Set current position
Pr5.77 1 — O — — 16bit R/W 0x059B
as origin
Pr5.78 Position comparison - offset to origin 1 — O — — 16bit R/W 0x059D
[Class 6] Other Settings
Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr6.01 Encoder zero position compensation 0 O O O O 16bit R/W 0x0603
Pr6.03 JOG trial run torque command 350 — — — O 16bit R/W 0x0607
Pr6.04 JOG trial run velocity command 30 — O O O 16bit R/W 0x0609
Pr6.05 Position 3rd gain valid time 0 — O — — 16bit R/W 0x060B
Pr6.06 Position 3rd gain scale factor 100 — O — — 16bit R/W 0x060D
Pr6.07 Torque command additional value 0 — O O O 16bit R/W 0x060F
Positive direction torque compensation O O O
Pr6.08 0 — 16bit R/W 0x0611
value
Negative direction torque compensation O O O
Pr6.09 0 — 16bit R/W 0x0613
value
Pr6.11 Current response settings 100 — O O O 16bit R/W 0x0617
Pr6.14 Max. time to stop after disabling 500 — O O O 16bit R/W 0x061D
Pr6.20 Trial run distance 10 — O — — 16bit R/W 0x0629
Pr6.21 Trial run waiting time 300 — O — — 16bit R/W 0x062B
Pr6.22 No. of trial run cycles 5 — O — — 16bit R/W 0x062D
Pr6.25 Trial run acceleration 200 — O O — 16bit R/W 0x0633
Pr6.28 Observer gain 0 — O O O 16bit R/W 0x0639
Pr6.29 Observer filter 0 — O O O 16bit R/W 0x063B
Pr6.56 Blocked rotor alarm torque threshold 300 — O O O 16bit R/W 0x0671
Pr6.57 Blocked rotor alarm delay time 400 — O O O 16bit R/W 0x0673
Pr6.63 Absolute multiturn data upper limit 0 O O O O 16bit R/W 0x067F

[Class B] Status Parameters

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
PrB.00 Software version 1（DSP） / — O O O 16bit R 0x0B00
PrB.01 Software version 2（CPLD） / — O O O 16bit R 0x0B01
PrB.02 Software version 3（Others） / — O O O 16bit R 0x0B02
PrB.03 Current alarm / — O O O 16bit R 0x0B03
PrB.04 Motor not rotating cause / — O O O 16bit R 0x0B04
PrB.05 Driver operation status / — O O O 16bit R 0x0B05
PrB.06 Motor speed（Before filter） / — O O O 16bit R 0x0B06
PrB.07 Motor torque / — O O O 16bit R 0x0B07
PrB.08 Motor current / — O O O 16bit R 0x0B08
PrB.09 Motor speed（After filter） / — O O O 16bit R 0x0B09
PrB.10 DC bus voltage / — O O O 16bit R 0x0B0A
PrB.11 Driver temperature / — O O O 16bit R 0x0B0B
PrB.12 External analog 1 / — O O O 16bit R 0x0B0C
PrB.13 External analog 2 / — O O O 16bit R 0x0B0D
PrB.14 External analog 3 / — O O O 16bit R 0x0B0E
PrB.15 Motor overload rate / — O O O 16bit R 0x0B0F
PrB.16 Vent overload rate / — O O O 16bit R 0x0B10
PrB.17 Physical I/O input status / — O O O 16bit R 0x0B11
PrB.18 Physical I/O output status / — O O O 16bit R 0x0B12
0x0B14
PrB.20 Command position (Command unit) / — O O O 32bit R
0x0B15
PrB.21 Motor position (Command unit) / — O - - 32bit R 0x0B16
 Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
0x0B17
/ 0x0B18
PrB.22 Position deviation (Command unit) — O O O 32bit R
0x0B19
0x0B1A
PrB.23 Command position (Encoder unit) / — O O O 32bit R
0x0B1B
/ 0x0B1C
PrB.24 Motor position (Encoder unit) — O - - 32bit R
0x0B1D
/ 0x0B1E
PrB.25 Position deviation (Encoder unit) — O O O 32bit R
0x0B1F
/ 0x0B20
PrB.26 Rotational encoder position feedback — O - - 32bit R
0x0B21

[Class 8] Pr-Control Parameters

Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr8.00 PR Control 0 — O — — 16bit R/W 0x6000
Pr8.01 Path count 16 — O — — 16bit R/W 0x6001
Pr8.02 Control Operation — O — — 16bit R/W 0x6002
Pr8.06 Software positive limit H 0 O 16bit R/W 0x6006
Pr8.07 Software positive limit (L) 0 — O — — 16bit R/W 0x6007
Pr8.08 Software negative limit H 0 — O — — 16bit R/W 0x6008
Pr8.09 Software negative limit (L) 0 — O — — 16bit R/W 0x6009
Pr8.10 Homing mode 0 — O — — 16bit R/W 0x600A
Pr8.11 Zero position H 0 — O — — 16bit R/W 0x600B
Pr8.12 Zero position (L) 0 — O — — 16bit R/W 0x600C
Pr8.13 Home position off set H 0 — O — — 16bit R/W 0x600D
Pr8.14 Home position off set (L) 0 O — — 16bit R/W 0x600E
Pr8.15 High homing velocity 200 — O — — 16bit R/W 0x600F
Pr8.16 Low homing velocity 50 — O — — 16bit R/W 0x6010
Pr8.17 Homing acceleration 100 — O — — 16bit R/W 0x6011
Pr8.18 Homing deceleration 100 — O — — 16bit R/W 0x6012
Pr8.19 Homing torque holding time 100 — O — — 16bit R/W 0x6013
Pr8.20 Homing torque 100 — O — — 16bit R/W 0x6014
Pr8.21 Homing overtravel alarm range 0 — O — — 16bit R/W 0x6015
Pr8.22 Emergency stop at limit deceleration 10 — O — — 16bit R/W 0x6016
Pr8.23 STP emergency stop deceleration 50 — O — — 16bit R/W 0x6017
Pr8.24 I/O combination trigger mode 0 — O — — 16bit R/W 0x601A
Pr8.25 I/O commbination filter 5 — O — — 16bit R/W 0x601B
Pr8.26 S-code current output value 0 — O — — 16bit R/W 0x601C
Pr8.27 PR warning 0 — O — — 16bit R/W 0x601D
Pr8.39 JOG velocity 100 — O — — 16bit R/W 0x6027
Pr8.40 JOG acceleration 100 — O — — 16bit R/W 0x6028
Pr8.41 JOG deceleration 100 — O — — 16bit R/W 0x6029
Pr8.42 Command position H 0 — O — — 16bit R/W 0x602A
Pr8.43 Command position（L） 0 — O — — 16bit R/W 0x602B
Pr8.44 Motor position H 0 — O — — 16bit R/W 0x602C
Pr8.45 Motor position（L） 0 — O — — 16bit R/W 0x602D
Pr8.46 Input I/O status 0 — O — — 16bit R/W 0x602E
 Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr8.47 Output I/O status 0 — O — — 16bit R/W 0x602F
Pr8.48 Path 0 S-code 0 — O — — 16bit R/W 0x6030
Pr8.49 Path 1 S-code 0 — O — — 16bit R/W 0x6031
Pr8.50 Path 2 S-code 0 — O — — 16bit R/W 0x6032
Pr8.51 Path 3 S-code 0 — O — — 16bit R/W 0x6033
Pr8.52 Path 4 S-code 0 — O — — 16bit R/W 0x6034
Pr8.53 Path 5 S-code 0 — O — — 16bit R/W 0x6035
Pr8.54 Path 6 S-code 0 — O — — 16bit R/W 0x6036
Pr8.55 Path 7 S-code 0 — O — — 16bit R/W 0x6037
Pr8.56 Path 8 S-code 0 — O — — 16bit R/W 0x6038
Pr8.57 Path 9 S-code 0 — O — — 16bit R/W 0x6039
Pr8.58 Path 10 S-code 0 — O — — 16bit R/W 0x603A
Pr8.59 Path 11 S-code 0 — O — — 16bit R/W 0x603B
Pr8.60 Path 12 S-code 0 — O — — 16bit R/W 0x603C
Pr8.61 Path 13 S-code 0 — O — — 16bit R/W 0x603D
Pr8.62 Path 14 S-code 0 — O — — 16bit R/W 0x603E
Pr8.63 Path 15 S-code 0 — O — — 16bit R/W 0x603F

[Class 9] Pr-Control Path Parameters

Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.00 PR0 mode 0 — O — — 16bit R/W 0x6200
Pr9.01 PR0 position H 0 — O — — 16bit R/W 0x6201
Pr9.02 PR0 position(L) 0 — O — — 16bit R/W 0x6202
Pr9.03 PR0 velocity 60 O — — 16bit R/W 0x6203
Pr9.04 PR0 acceleration time 100 — O — — 16bit R/W 0x6204
Pr9.05 PR0 deceleration time 100 — O — — 16bit R/W 0x6205
Pr9.06 PR0 pause time 0 — O — — 16bit R/W 0x6206
Pr9.07 PR0 special parameter 0 — O — — 16bit R/W 0x6207
Pr9.08 PR1 mode 0 — O — — 16bit R/W 0x6208
Pr9.09 PR1 position H 0 — O — — 16bit R/W 0x6209
Pr9.10 PR1 position(L) 0 — O — — 16bit R/W 0x620A
Pr9.11 PR1 velocity 60 — O — — 16bit R/W 0x620B
Pr9.12 PR1 acceleration time 100 — O — — 16bit R/W 0x620C
Pr9.13 PR1 deceleration time 100 — O — — 16bit R/W 0x620D
Pr9.14 PR1 pause time 0 — O — — 16bit R/W 0x620E
Pr9.15 PR1 special parameter 0 — O — — 16bit R/W 0x620F
Pr9.16 PR2 mode 0 — O — — 16bit R/W 0x6210
Pr9.17 PR2 position H 0 — O — — 16bit R/W 0x6211
Pr9.18 PR2 position(L) 0 — O — — 16bit R/W 0x6212
Pr9.19 PR2 velocity 60 O — — 16bit R/W 0x6213
Pr9.20 PR2 acceleration time 100 — O — — 16bit R/W 0x6214
Pr9.21 PR2 deceleration time 100 — O — — 16bit R/W 0x6215
Pr9.22 PR2 pause time 0 — O — — 16bit R/W 0x6216
Pr9.23 PR2 special parameter 0 — O — — 16bit R/W 0x6217
Pr9.24 PR3 mode 0 — O — — 16bit R/W 0x6218
Pr9.25 PR3 position H 0 — O — — 16bit R/W 0x6219
 Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.26 PR3 position(L) 0 — O — — 16bit R/W 0x621A
Pr9.27 PR3 velocity 60 — O — — 16bit R/W 0x621B
Pr9.28 PR3 acceleration time 100 — O — — 16bit R/W 0x621C
Pr9.29 PR3 deceleration time 100 — O — — 16bit R/W 0x621D
Pr9.30 PR3 pause time 0 — O — — 16bit R/W 0x621E
Pr9.31 PR3 special parameter 0 — O — — 16bit R/W 0x621F
Pr9.32 PR4 mode 0 — O — — 16bit R/W 0x6220
Pr9.33 PR4 position H 0 — O — — 16bit R/W 0x6221
Pr9.34 PR4 position(L) 0 — O — — 16bit R/W 0x6222
Pr9.35 PR4 velocity 60 O — — 16bit R/W 0x6223
Pr9.36 PR4 acceleration time 100 — O — — 16bit R/W 0x6224
Pr9.37 PR4 deceleration time 100 — O — — 16bit R/W 0x6225
Pr9.38 PR4 pause time 0 — O — — 16bit R/W 0x6226
Pr9.39 PR4 special parameter 0 — O — — 16bit R/W 0x6227
Pr9.40 PR5 mode 0 — O — — 16bit R/W 0x6228
Pr9.41 PR5 position H 0 — O — — 16bit R/W 0x6229
Pr9.42 PR5 position(L) 0 — O — — 16bit R/W 0x622A
Pr9.43 PR5 velocity 60 — O — — 16bit R/W 0x622B
Pr9.44 PR5 acceleration time 100 — O — — 16bit R/W 0x622C
Pr9.45 PR5 deceleration time 100 — O — — 16bit R/W 0x622D
Pr9.46 PR5 pause time 0 — O — — 16bit R/W 0x622E
Pr9.47 PR5 special parameter 0 — O — — 16bit R 0x622F
Pr9.48 PR6 mode 0 — O — — 16bit R/W 0x6230
Pr9.49 PR6 position H 0 — O — — 16bit R/W 0x6231
Pr9.50 PR6 position(L) 0 — O — — 16bit R/W 0x6232
Pr9.51 PR6 velocity 60 O — — 16bit R/W 0x6233
Pr9.52 PR6 acceleration time 100 — O — — 16bit R/W 0x6234
Pr9.53 PR6 deceleration time 100 — O — — 16bit R/W 0x6235
Pr9.54 PR6 pause time 0 — O — — 16bit R/W 0x6236
Pr9.55 PR6 special parameter 0 — O — — 16bit R/W 0x6237
Pr9.56 PR7 mode 0 — O — — 16bit R/W 0x6238
Pr9.57 PR7 position H 0 — O — — 16bit R/W 0x6239
Pr9.58 PR7 position(L) 0 — O — — 16bit R/W 0x623A
Pr9.59 PR7 velocity 60 — O — — 16bit R/W 0x623B
Pr9.60 PR7 acceleration time 100 — O — — 16bit R/W 0x623C
Pr9.61 PR7 deceleration time 100 — O — — 16bit R/W 0x623D
Pr9.62 PR7 pause time 0 — O — — 16bit R/W 0x623E
Pr9.63 PR7 special parameter 0 — O — — 16bit R/W 0x623F
Pr9.64 PR8 mode 0 — O — — 16bit R/W 0x6240
Pr9.65 PR8 position H 0 — O — — 16bit R/W 0x6241
Pr9.66 PR8 position(L) 0 — O — — 16bit R/W 0x6242
Pr9.67 PR8 velocity 60 O — — 16bit R/W 0x6243
Pr9.68 PR8 acceleration time 100 — O — — 16bit R/W 0x6244
Pr9.69 PR8 deceleration time 100 — O — — 16bit R/W 0x6245
Pr9.70 PR8 pause time 0 — O — — 16bit R/W 0x6246
Pr9.71 PR8 special parameter 0 — O — — 16bit R/W 0x6247
Pr9.72 PR9 mode 0 — O — — 16bit R/W 0x6248
Pr9.73 PR9 position H 0 — O — — 16bit R/W 0x6249
 Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.74 PR9 position(L) 0 — O — — 16bit R/W 0x624A
Pr9.75 PR9 velocity 60 — O — — 16bit R/W 0x624B
Pr9.76 PR9 acceleration time 100 — O — — 16bit R/W 0x624C
Pr9.77 PR9 deceleration time 100 — O — — 16bit R/W 0x624D
Pr9.78 PR9 pause time 0 — O — — 16bit R/W 0x624E
Pr9.79 PR9 special parameter 0 — O — — 16bit R/W 0x624F
Pr9.80 PR10 mode 0 — O — — 16bit R/W 0x6250
Pr9.81 PR10 position H 0 — O — — 16bit R/W 0x6251
Pr9.82 PR10 position(L) 0 — O — — 16bit R/W 0x6252
Pr9.83 PR10 velocity 60 O — — 16bit R/W 0x6253
Pr9.84 PR10 acceleration time 100 — O — — 16bit R/W 0x6254
Pr9.85 PR10 deceleration time 100 — O — — 16bit R/W 0x6255
Pr9.86 PR10 pause time 0 — O — — 16bit R/W 0x6256
Pr9.87 PR10 special parameter 0 — O — — 16bit R/W 0x6257
Pr9.88 PR11 mode 0 — O — — 16bit R/W 0x6258
Pr9.89 PR11 position H 0 — O — — 16bit R/W 0x6259
Pr9.90 PR11 position(L) 0 — O — — 16bit R/W 0x625A
Pr9.91 PR11 velocity 60 — O — — 16bit R/W 0x625B
Pr9.92 PR11 acceleration time 100 — O — — 16bit R/W 0x625C
Pr9.93 PR11 deceleration time 100 — O — — 16bit R/W 0x625D
Pr9.94 PR11 pause time 0 — O — — 16bit R/W 0x625E
Pr9.95 PR11 special parameter 0 — O — — 16bit R/W 0x625F
Pr9.96 PR12 mode 0 — O — — 16bit R/W 0x6260
Pr9.97 PR12 position H 0 — O — — 16bit R/W 0x6261
Pr9.98 PR12 position(L) 0 — O — — 16bit R/W 0x6262
Pr9.99 PR12 velocity 60 O — — 16bit R/W 0x6263
Pr9.100 PR12 acceleration time 100 — O — — 16bit R/W 0x6264
Pr9.101 PR12 deceleration time 100 — O — — 16bit R/W 0x6265
Pr9.102 PR12 pause time 0 — O — — 16bit R/W 0x6266
Pr9.103 PR12 special parameter 0 — O — — 16bit R/W 0x6267
Pr9.104 PR13 mode 0 — O — — 16bit R/W 0x6268
Pr9.105 PR13 position H 0 — O — — 16bit R/W 0x6269
Pr9.106 PR13 position(L) 0 — O — — 16bit R/W 0x626A
Pr9.107 PR13 velocity 60 — O — — 16bit R/W 0x626B
Pr9.108 PR13 acceleration time 100 — O — — 16bit R/W 0x626C
Pr9.109 PR13 deceleration time 100 — O — — 16bit R/W 0x626D
Pr9.110 PR13 pause time 0 — O — — 16bit R/W 0x626E
Pr9.111 PR13 special parameter 0 — O — — 16bit R/W 0x626F
Pr9.112 PR14 mode 0 — O — — 16bit R/W 0x6270
Pr9.113 PR14 position H 0 — O — — 16bit R/W 0x6271
Pr9.114 PR14 position(L) 0 — O — — 16bit R/W 0x6272
Pr9.115 PR14 velocity 60 O — — 16bit R/W 0x6273
Pr9.116 PR14 acceleration time 100 — O — — 16bit R/W 0x6274
Pr9.117 PR14 deceleration time 100 — O — — 16bit R/W 0x6275
Pr9.118 PR14 pause time 0 — O — — 16bit R/W 0x6276
Pr9.119 PR14 special parameter 0 — O — — 16bit R/W 0x6277
Pr9.120 PR15 mode 0 — O — — 16bit R/W 0x6278
Pr9.121 PR15 position H 0 — O — — 16bit R/W 0x6279
 Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.122 PR15 position(L) 0 — O — — 16bit R/W 0x627A
Pr9.123 PR15 velocity 60 — O — — 16bit R/W 0x627B
Pr9.124 PR15 acceleration time 100 — O — — 16bit R/W 0x627C
Pr9.125 PR15 deceleration time 100 — O — — 16bit R/W 0x627D
Pr9.126 PR15 pause time 0 — O — — 16bit R/W 0x627E
Pr9.127 PR15 special parameter 0 — O — — 16bit R/W 0x627F

Parameters description

[Class 0] Basic Settings

S T
Label Model-following/Zero tracking control Valid mode(s) P
Pr0.00 Range 0-2000 Unit 0.1Hz Default 1
Byte length 16bit Attribute R/W 485 address 0x0001
Valid At stop
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.
Value Description
0 Disable model following/zero tracking control
1 Set bandwidth automatically
2~9 Reserved
Manually set control bandwidth. 30~100 recommended for belt
10~2000
application
 Label Control Mode Settings Valid mode(s) P S T
Pr0.01＊ Range 0~10 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0003
Valid After restart

Description
Value st
st
1 mode
nd
2 mode ◆When 3, 4, 5, 6 combination hybrid mode, 1
nd
【0】 Position — and 2 mode can be chosen accordingly
1 Velocity — with control mode switching input (C-MODE).
st
2 Torque — C-MODE: Invalid, select 1 mode.
st
C-MODE: Valid, select 2 mode.
3 Position Velocity
Please allow some time in between mode
4 Position Torque
switching commands.
5 Velocity Torque ◆Please set Pr0.01 = 6 to switch to other
Position nd
modes from PR mod, then set 2 mode
Pr0.22=1 using Pr0.22.
Velocity
PR internal Pr0.22=1 C-MODE is defaulted to Normally Open
6
ommand control
Torque
Pr0.22=2

7~10 Reserved

Label Real time Auto Gain Adjusting Valid mode(s) P S T

Range 0x0~0xFF Unit — Default 0x1
Pr0.02
F
Byte length 16bit Attribute R/W 485 address 0x0005
Valid Immediate
Data Category Settings Application
bits

Used to set motion setting mode, which can be selected according to the motion
characteristics or setting requirements. Generally, it is recommended to select
mode 1 with good generality when there is no special requirement, mode 2 when
rapid positioning is needed If mode 1 and mode 2 cannot meet the requirements,
please choose mode 0.

Pr0.03 invalid. Gain value must be adjusted manually and

Motion 0:Manual
accordingly.
0x00_ setting Pr0.03 valid. Quick gain adjusting can be achieved by
mode changing Pr0.03 stiffness value. Gain switching is not used in
1:Standard
this mode, suitable for applications with requirements for
stability.
Pr0.03 valid. Quick gain adjusting can be achieved by
changing Pr0.03 stiffness value. This mode is suitable for
2:Positioning applications requiring quick positioning. Not recommended for
load mounted vertical to ground, or please compensate for the
load using Pr6.07
 Used to select the load type, choose according to load-inertia ratio and
mechanical structure.
This mode prioritizes system responsiveness. Use this mode
0: Rigid when there is a relatively rigid structure with low load inertia.
structure Typical application including directly connected high-precision
Load type gearbox, lead screw, gears, etc.
0x0_0
setting For applications with higher load inertia (10 times or above),
gain settings take into account both machine stability and
1:High inertia
responsiveness. Not recommended to set stiffness above 15
for high load inertia.
This mode prioritizes system stability. Use this mode when
2: Flexible
there is low rigidity structure with high load inertia. Typical
structure
applications included belts and chains.

0x_00 reserved

The setting type combination is a hexadecimal standard, as follows:

Setting type combination Application type
0X000 Rigid structure + Manual
0X001 Rigid structure +Standard
0X002 Rigid structure +Positioning
0X010 High inertia + Manual
0X011 High inertia + Standard
0X012 High inertia + Positioning
0X020 Flexible structure + Manual
0X021 Flexible structure +Standard
0X022 Flexible structure +Positioning

P S T
Label Real time auto stiffness adjusting Valid mode(s)
Pr0.03 Range 0 ~ 31 Unit — Default 11
Byte length 16bit Attribute R/W 485 address 0x0007
Valid Immediate
Low Mechanical stiffness High

Low Servo gain High

81.80……………………………70.69.68…………………………51.50

Low Responsiveness High

Lower values ensure better system responsiveness and mechanical stiffness but machine
vibration might occur, please set accordingly. Recommend to set to around 15 with motor with
high inertia.
 Inertia ratio P S T
Label Valid mode(s)
Pr0.04 Range 0~20000 Unit % Default 250
Byte length 16bit Attribute R/W 485 address 0x0009
Valid Immediate

Pr0.04=( load inertia/motor rotational inertia)×100%

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

Command pulse input selection P

Label Valid mode(s)
Pr0.05 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x000B
Valid After restart

Value Description
Pulse input low speed channel (200/500kHz pulse
【0】
input)
1 Pulse input high speed channel (4MHz pulse input)
Both channels cannot be used at the same time.

Command pulse polarity P

Label inversion Valid mode(s)
Pr0.06 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x000D
Valid After restart
Pr0.06 and Pr0.07 set command pulse input inversion and mode correspondingly.
 Label Command pulse input mode Valid mode(s) P
Range 0~3 Unit — Default 3
Pr0.07
Byte length 16bit Attribute R/W 485 address 0x000F
Valid After restart
Command pulse input
Command
Command
pulse
Polarity Command Pulse
input mode Positive signal Negative signal
inversion Mode
settings
(Pr0.06)
(Pr0.07)

90°phase
0 difference
or 2 phase pulse
2 ﹙Phase A+ Phase
B）

【0】 CW pulse
sequence
1 ＋
CCW pulse
sequence
Pulse sequence
【3】 ＋
Directional symbol

90°phase
0 difference
or 2 phase pulse
2 （Phase A＋Phase
B）

1 CW pulse
sequence
1 ＋
CCW pulse
sequence
Pulse sequence
3 ＋
Directional symbol

Command pulse input signal max. frequency and min. duration needed
Max. Min. duration needed（μ s）
Command pulse input interface
Frequency t1 t2 t3 t4 t5 t6
Differential drive 500 kHz 2 1 1 1 1 1
Pulse
Open collector 200 kHz 5 2.5 2.5 2.5 2.5 2.5
sequence
interface High speed
4Mhz 0.25 0.125 0.125 0.125 0.125 0.125
differential drive
Please set >0.1μs for the duration between rising and falling edge of command pulse input signal.
1 revolution with 2500 pulses 2-phase pulse input when Pr0.07=0 or 2, Pr0.08 = 10000;
1 revolution with 10000 pulses 1-phase pulse input when Pr0.07=1 or 3, Pr0.08 = 10000
 1st command pulse count per P S T
Label Valid mode(s)
revolution
Range 0-67100864 Unit PULSE Default 10000
Pr0.08
Byte length 32bit Attribute R/W 485 address H: 0x0010
L: 0x0011
Valid After restart
Control will affected if value set is too low. Err1b1 might occur if value < 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.
1st command frequency P
Label Valid mode(s)
divider/multiplier numerator
Range 1~2147483647 Unit — Default 1
Pr0.09
Byte length 32bit Attrib R/W 485 address H: 0x0012
ute L: 0x0013
Valid After restart
Valid when Pr0.08 = 0, please refer to description in Pr0.10.
1st command frequency P
Label Valid mode(s)
divider/multiplier denominator
Range 1~2147483647 Unit — Default 1
Pr0.10
Byte length 32bit Attrib R/W 485 address H: 0x0014
ute L: 0x0015
Valid After restart
1. Settings：
(1)Driver command pulse input count : X
(2)Encoder pulse count after frequency divider/multiplier: Y
(3)Encoder pulse count per revolution: Z
(4)Motor revolution: W
2. Calculation：
（1）X, Y
Y = X * Pr0.09 / Pr0.10
24
Please keep the value of Pr0.09 and Pr0.10 to be smaller than 2 (16777216).
（2）Z
23
Motor with 23-bit motor： Z= 2 = 8388608
（3）Y, Z, W
W=Y/Z
Performance cannot be guaranteed if frequency divider/multiplier ratio is set to extreme
values. Err1b1 might occur if W < 500.

Encoder output pulse count per P S T

Label Valid mode(s)
revolution
Pr0.11 Range 1~32767 Unit P/r Default 2500
Byte length 16bit Attribute R/W 485 address 0x0017
Valid After restart
If Pr0.11 = 1000, encoder differential output signal per revolution = 4000 pulses
 Label Pulse output logic inversion Valid mode(s) P S T
Range 0~1 Unit — Default 0
Pr0.12
Byte length 16bit Attribute R/W 485 address 0x0019
Valid After restart
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

Pulse output logic inversion

Pr0.12 Phase B logic CCW direction CW direction

[0] Not inverted

[1] Inverted

st
1 torque limit P S T
Label Valid mode(s)
Pr0.13 Range 0~500 Unit % Default 350
Byte length 16bit Attribute R/W 485 address 0x001B
Valid Immediate
st
1 torque limit is set according to ratio percentage of motor rated current. Do not exceed
max driver output current.

Please refer to Pr5.21 on how to set torque limit.

Excessive position deviation P

Label Valid mode(s)
Pr0.14 Range 0~310 Unit 0.1rev Default 30
Byte length 16bit Attribute R/W 485 address 0x001D
Valid Immediate
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.
 Label Absolute encoder settings Valid mode(s) P S T
Range 0~15 Unit - Default 0
Pr0.15
Byte length 16bit Attribute R/W 485 address 0x001F
Valid After restart
Value Mode Description
【0】 Incremental Doesn’t retain position data on power off. Unlimited travel distance.
Multiturn Retrain position data on power off. For applications with fixed travel
1 distance and no multiturn data overflow.
absolute linear
Multiturn Retrain position data on power off. Actual data feedback in between 0-
2
absolute rotary (Pr6.63+1). Unlimited travel distance.
Single turn Used when travel distance is within 1 revolution of the encoder. Data
3 overflow will trigger alarm.
absolute
Clear multiturn alarm and activate multiturn absolute function. Will switch to
5 multiturn mode once alarm cleared, if remains at 5 after 3s, please solve
according to Er153.
Multi turn
Clear multiturn position, reset multiturn alarm and activate multiturn
absolute
absolute function. Will switch to multiturn mode once alarm cleared, if
9
remains at 9 after 3s, please solve according to Er153. Please disable axis
before setting to 9 and home the axis before using.
Others Do not use!

Label Regenerative resistance Valid mode(s) P S T

Range 25~500 Unit Ohm Default 100
Pr0.16
Byte length 16bit Attribute R/W 485 address 0x0021
Valid Immediate
To set resistance value of regenerative resistor
Pr0.16 and Pr0.17set value determine alarm threshold of Er120.
If set value > actual regenerative resistance, Er120 occurrence might be delayed.
Regenerative resistor power P S T
Label Valid mode(s)
rating
Pr0.17 Range 20~5000 Unit W Default 50
Byte length 16bit Attribute R/W 485 address 0x0023
Valid Immediate
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.
 Label PR and P/S/T switching Valid mode(s) P S T
Range 0~2 Unit - Default 0
Pr0.22
Byte length 16bit Attribute R/W 485 address 0x002D
Valid Immediate
nd
When Pr0.01 = 6(PR Mode), 2 mode can be set on Pr0.22
Pr0.01 Pr0.22 Control mode
【0】 PR / Position
6 1 PR / Velocity
2 PR / Torque

Label Auxiliary function Valid mode(s) P S T

Range 0~0xFFFF Unit - Default 0
Pr0.25
Byte length 16bit Attribute R/W 485 address 0x0033
Valid Immediate
Parameter Auxiliary function
0x1111 Reset current alarm
0x1122 Reset record alarm Only for RS485 communication,
Save parameter to EEPROM please write corresponding
0x2211
(not including PR) parameters into Pr0.25
0x2212 Save PR parameters Do not use JOG_P and JOG_N
Initialize parameter in PR mode
0x2222
(not including motor parameters)
0x2233 All parameters restore to default
0x3322 Analog 2 self-learning zero point
0x3333 Analog 3 self-learning zero point
0X4001 JOG_P（once every 50ms）
0X4002 JOG_N（once every 50ms）
0x4411 Encoder auto correction to zero
0x6666 Software reset
Label Simulated I/O Valid mode(s) P S T
Range 0~0xFFFF Unit - Default 0
Pr0.26
Byte length 16bit Attribute R/W 485 address 0x0035
Valid Immediate

Bit Input
0 DI1
1 DI2
2 DI3
3 DI4
Only for RS485 communication.
4 DI5
Simulated I/O is different from
5 DI6 physical I/O which means inversion
6 DI7 of current I/O status
7 DI8
8 DI9
9 DI10
 Label Encoder feedback mode Valid mode(s) P S T
Range 0~1 Unit - Default 0
Pr0.30
Byte length 16bit Attribute R/W 485 address 0x0037
Valid Immediate
To set encoder feedback source
Value Description
【0】 Feedback from motor（Internal）encoder
1 Use under full closed loop control, external encoder feedback
Label External encoder type 有效模式 P S T
Range 0~3 Unit - Default 0
Pr0.31
Byte length 16bit Attribute R/W 485 address 0x0039
Valid After restart
Value Description
【0】 ABZ encoder
1~3 Reserved for future upgrades.
Label External encoder direction Valid mode(s) P S T
Range 0~1 Unit - Default 0
Pr0.32
Byte length 16bit Attribute R/W 485 address 0x003B
Valid After restart
Value Description
【0】 Default direction
1 Inversed direction
Label Excessive hybrid deviation Valid mode(s) P S T
Range 0~13421 Unit Command Default 16000
7728 unit
Pr0.33
Byte 16bit Attribute R/W 485 address 0x0043
length
Valid After restart
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.
Clear excess hybrid control P S T
Label Valid mode(s)
deviation
Range 0~100 Unit R Default 0
Pr0.34
Byte 16bit Attribute R/W 485 address 0x0045
length
Valid After restart
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
 External encoder frequency P S T
Label Valid mode(s)
divider numerator
23
Pr0.35 Range 0~2 Unit - Default 0
Byte length 16bit Attribute R/W 485 address 0x0047
Valid After restart
To set frequency divider numerator for external encoder.

External encoder frequency P S T

Label Valid mode(s)
divider denominator
23
Pr0.36 Range 1~2 Unit - Default 10000
Byte length 16bit Attribute R/W 485 address 0x0049
Valid After restart
To set frequency divider denominator for external encoder. When Pr0.37 = 0, External
encoder feedback pulse count per revolution = Pr0.36.

External encoder feedback pulse P S T

Label Valid mode(s)
count per revolution
Range 0~2147483 Unit - Default 0
Pr0.37
648
Byte length 16bit Attribute R/W 485 address 0x004B
Valid After restart
Value Pulse count
【0】 Pr0.36
31
1~2 Pr0.37

Label Z-signal pulse input source Valid mode(s) P S T

Range 0~3 Unit - Default 0
Pr0.38
Byte length 16bit Attribute R/W 485 address 0x004D
Valid Immediate
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
 Label Mapping parameter 1 Valid mode(s) P S T
Pr0.40 Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H： 0x0050
RS485)
Valid L： 0x0051
For user to set parameters unrelated by RS485 address quickly. Mapping parameter ID
to be written is set on Pr0.50 by RS485. Data saved in Pr0.40 is parameter designated by
Pr0.50.
Please refer to Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.40 is determined by Pr0.50 designated parameter.
Label Mapping parameter 2 Valid mode(s) P S T
Pr0.41
Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H: 0x0052
RS485)
Valid L: 0x0053
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.41 is determined by Pr0.51 designated parameter.
Label Mapping parameter 3 Valid mode(s) P S T
Pr0.42
Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H: 0x0054
RS485)
Valid L： 0x0055
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.42 is determined by Pr0.52 designated parameter.
Label Mapping parameter 4 Valid mode(s) P S T
Pr0.43 Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H： 0x0056
RS485)
Valid L： 0x0057
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.43 is determined by Pr0.53 designated parameter.
Label Mapping parameter 5 Valid mode(s) P S T
Pr0.44 Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H： 0x0058
RS485)
Valid L： 0x0059
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.44 is determined by Pr0.54 designated parameter.
Label Mapping parameter 6 Valid mode(s) P S T
Pr0.45 Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H： 0x005A
RS485)
Valid L： 0x005B
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.45 is determined by Pr0.55 designated parameter.
Label Mapping parameter 7 Valid mode(s) P S T
Pr0.46 Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H： 0x005C
RS485)
Valid L： 0x005D
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.46 is determined by Pr0.56 designated parameter.
 Label Mapping parameter 8 Valid mode(s) P S T
Pr0.47
Range Unit Default 0
(Only for
RS485) Byte length 32bit Attribute 485 address H： 0x005E
Valid L： 0x005F
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.47 is determined by Pr0.57 designated parameter.

Label Mapping parameter 1 indicator Valid mode(s) P S T

Pr0.50
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H： 0x0064
RS485)
Valid Immediate L： 0x0065
Label Mapping parameter 2 indicator Valid mode(s) P S T
Pr0.51
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H： 0x0066
RS485)
Valid Immediate L： 0x0067
Label Mapping parameter 3 indicator Valid mode(s) P S T
Pr0.52
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H： 0x0068
RS485)
Valid Immediate L： 0x0069
Label Mapping parameter 4 indicator Valid mode(s) P S T
Pr0.53
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H: 0x006A
RS485)
Valid Immediate L: 0x006B
Label Mapping parameter 5 indicator Valid mode(s) P S T
Pr0.54
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H: 0x006C
RS485)
Valid Immediate L: 0x006D
Label Mapping parameter 6 indicator Valid mode(s) P S T
Pr0.55
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H: 0x006E
RS485)
Valid Immediate L: 0x006F
Label Mapping parameter 7 indicator Valid mode(s) P S T
Pr0.56
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H: 0x0070
RS485)
Valid Immediate L: 0x0071
 Label Mapping parameter 8 indicator Valid mode(s) P S T
Pr0.57
Range 0~0xFFFFFFFF Unit Default 0x00490049
(Only for
Byte length 32bit Attribute R/W 485 address H: 0x0072
RS485)
Valid Immediate L: 0x0073
Set parameter to 0xABCDWXYZ
High bit parameter position(PH) and low bit parameter position(PL)settings format：
0xABCD & 0xWXYZ
4-bit value Definition 4-bit value Definition
CD Parameter bias decimal YZ Parameter bias decimal
B Parameter type X Parameter type
hexadecimal hexadecimal
A Unused W Unused
Description of corresponding parameter using Mapping Parameter 1 as example:
Mapping content is 32-bit wide, able to map 2 16-bit or 1 32-bit parameters：

Pr0.50 content as below：

(Mapping parameter 1 indicator：Pr0.50；Mapping parameter 1: Pr0.40)
Pr0.40 high bit corresponds to Pr0.50 high bit indicator (PH) value;
Pr0.40 low bit corresponds to Pr0.50 low bit indicator (PL) value;

1. When Pr0.50 PH≠PL, indicates that Pr0.40 contains 2 16-bit mapped values.
If Pr0.50=0x06200101; PH=0x0620,PL=0x0101; write 0x0005 0064 into Pr0.40; write
0x0005 into Pr6.20, write 0x0064 into Pr1.01;

2. When Pr0.50 PH=PL，indicates that Pr0.40 contains 1 32-bit mapped value.

If Pr0.50=0x01150115; PH=0x0115,PL=0x0115; write 0x00000001into Pr0.40; write
0x00000001 into Pr1.15;

Note: When a 32-bit address parameter is mapped, please write same address into high
and low bit as shown above.

[Class 1] Gain adjustments

st
Label 1 position loop gain Valid mode(s) P
Range 0～30000 Unit 0.1/s Default 320
Pr1.00
Byte length 16bit Attribute R/W 485 address 0x0101
Valid Immediate
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
 st
Label 1 velocity loop gain Valid mode(s) P S T
Range 1～32767 Unit 0.1Hz Default 180
Pr1.01
Byte length 16bit Attribute R/W 485 address 0x0103
Valid Immediate
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.
st
1 Integral Time Constant of P S T
Label Valid mode(s)
Velocity Loop
Pr1.02 Range 1～10000 Unit 0.1ms Default 310
Byte length 16bit Attribute R/W 485 address 0x0105
Valid Immediate
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.
st
Label 1 velocity detection filter Valid mode(s) P S T
Range 0～31 Unit — Default 15
Pr1.03 Byte length 16bit Attribute R/W 485 address 0x0107
Valid Immediate

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.
Please refer to the following table.
Value Velocity Detection Value Velocity Detection Filter
Filter Cut-off Cut-off Frequency(Hz)
Frequency(Hz)
0 2500 16 750
1 2250 17 700
2 2100 18 650
3 2000 19 600
4 1800 20 550
5 1600 21 500
6 1500 22 450
7 1400 23 400
8 1300 24 350
9 1200 25 300
10 1100 26 250
11 1000 27 200
12 950 28 175
13 900 29 150
14 850 30 125
【15】 800 31 100
 st
Label 1 Torque Filter Time Constant Valid mode(s) P S T
Range 0～2500 Unit 0.01ms Default 126
Pr1.04
Byte length 16bit Attribute R/W 485 address 0x0109
Valid Immediate
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.

nd
Label 2 Position Loop Gain Valid mode(s) P
Range 0～30000 Unit 0.1/s Default 380
Pr1.05
Byte length 16bit Attribute R/W 485 address 0x010B
Valid Immediate
nd
Label 2 velocity loop gain Valid mode(s) P S T
Range 1～32767 Unit 0.1Hz Default 180
Pr1.06
Byte length 16bit Attribute R/W 485 address 0x010D
Valid Immediate
nd
2 Integral Time Constant of P S T
Label Valid mode(s)
Velocity Loop
Pr1.07 Range 1～10000 Unit 0.1ms Default 10000
Byte length 16bit Attribute R/W 485 address 0x010F
Valid Immediate
nd
Label 2 velocity detection filter Valid mode(s) P S T
Range 0～31 Unit — Default 15
Pr1.08
Byte length 16bit Attribute R/W 485 address 0x0111
Valid Immediate
nd
Label 2 Torque Filter Time Constant Valid mode(s) P S T
Range 0~2500 Unit 0.01ms Default 126
Pr1.09
Byte length 16bit Attribute R/W 485 address 0x0113
Valid Immediate
Position loop, velocity loop, velocity detection filter, torque command filter each have 2
pairs of gain or time constant (1st and 2nd).

Label Velocity feed forward gain Valid mode(s) P

Range 0~1000 Unit 0.10% Default 300
Pr1.10
Byte length 16bit Attribute R/W 485 address 0x0115
Valid Immediate
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.
 Velocity feed forward filter time P
Label Valid mode(s)
constant
Pr1.11 Range 0~6400 Unit 0.01ms Default 50
Byte length 16bit Attribute R/W 485 address 0x0117
Valid Immediate
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. Please to refer to the equation below.
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.

<Application>
Set Pr1.11 = 50（0.5ms）, improve feedforward effect by gradually increase Pr1.10. The
equation below can be used to determine the position deviation due to velocity
feedforward gain under constant velocity.

Position deviation[Uint]=

Label Torque feed forward gain Valid mode(s) P S

Range 0~1000 Unit 0.1% Default 0
Pr1.12
Byte length 16bit Attribute R/W 485 address 0x0119
Valid Immediate
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.
Torque feed forward filter time P S
Label Valid mode(s)
constant
Pr1.13 Range 0~6400 Unit 0.01ms Default 0
Byte length 16bit Attribute R/W 485 address 0x011B
Valid Immediate
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.
<Application>
・ Set Pr1.13 = 50ms, please increase torque forward gain gradually to enable torque
feedforward.
・By increasing Pr1.13, noise will reduce but position deviation will become larger.
 Position control gain switching P S
Label Valid mode(s)
mode
Pr1.15 Range 0～10 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x011F
Valid Immediate
In position control, set the conditions for gain switching to be valid.

Value Condition Gain switching condition

st st
【0】 1 gain fixed Fixed on using 1 gain(Pr1.00-Pr1.04)
nd nd
1 2 gain fixed Fixed on using 2 gain (Pr1.05-Pr1.09)
st
· Gain switching input （GAIN）invalid: 1 gain.
nd
2
Gain switching · Gain switching input （GAIN）valid: 2 gain.
st
input valid *Default: 1 gain
nd
Switch to 2 gain when set torque command absolute
High command value larger than (level + hysteresis)[%]
3 st
torque Switch to 1 gain when set torque command absolute
value smaller than (level + hysteresis)[%]
4-9 Reserved Reserved
Valid for position control.
Switch to 2nd gain if position command ≠ 0
Pending position Switch to 1st gain if positional command = 0 throughout
10 command the duration of delay time and absolute value of actual
+actual velocity velocity remains smaller than (level - hysteresis)
(r/min)

** Above ‘level’ and ‘hysteresis’ are in correspondence to Pr1.17 Position control gain
switching level and Pr1.18 Hysteresis at position control switching.
Position control gain switching P
Label Valid mode(s)
level
Range Unit Mode Default
Pr1.17 0~20000 50
dependent
Byte length 16bit Attribute R/W 485 address 0x0123
Valid Immediate
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

 Hysteresis at position control P
Label Valid mode(s)
switching
Range Unit Mode Default
Pr1.18 0~20000 33
dependent
Byte length 16bit Attribute R/W 485 address 0x0125
Valid Immediate
To eliminate the instability of gain switching. Used in combination with Pr1.17 using the
same unit.
If level< hysteresis, drive will set internally hysteresis = level.

Label Position control switching time Valid mode(s) P

Range 0~10000 Unit 0.1ms Default 33
Pr1.19
Byte length 16bit Attribute R/W 485 address 0x0127
Valid Immediate
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
For example: 1st (pr1.00) <-> 2nd (Pr1.05)

Label Position command pulse filter time Valid mode(s) P

Range 0~200 Unit 0.01us Default 8
Pr1.35
Byte length 16bit Attribute R/W 485 address 0x0147
Valid After restart
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.
Pr1.35 formula：
1
Filter frequency = × 1000000Hz
2 × Pr1.35 × 0.05us

Example：Pr1.35=100, pulse frequency > 100KHz 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)
 Label External ABZ encoder filter time Valid mode(s) P full closed loop
Range 0~300 Unit 0.01us Default 3
Pr1.36
Byte length 16bit Attribute R/W 485 address 0x0149
Valid After restart
To set filter time for external ABZ encoder

Label Special function register 2 Valid mode(s) P T S

Range 0~0xFFFF Unit - Default 0
Pr1.39
Byte length 16bit Attribute R/W 485 address 0x014F
Valid Immediate

Value Description
【0】 Reserved
1 =1, activate full closed loop during trial run
2 =1, hybrid position deviation clearing

[Class 2] Vibration suppression

Label Adaptive filtering mode settings Valid mode(s) P S

Range 0~4 Unit — Default 0
Pr2.00
Byte length 16bit Attribute R/W 485 address 0x0201
Valid Immediate

Value Description
rd
Adaptive filter: invalid Parameters related to 3 notch filter remain
0
unchanged
rd
Adaptive filter: 1 filter valid 1 adaptive filter becomes valid. 3 notch filter
1 for once. related parameters updated accordingly. Pr2.00
switches automatically to 0 once updated.
rd
Adaptive filter: 1 filter 1 adaptive filter becomes valid. 3 notch filter
2 remains valid related parameters will keep updating
accordingly.
3-4 Reserved -
 st
Label 1 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.01
Byte length 16bit Attribute R/W 485 address 0x0203
Valid Immediate
st
Set center frequency of 1 torque command notch filter.
Set Pr2.01 to 4000 to deactivate notch filter
st
Label 1 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.02
Byte length 16bit Attribute R/W 485 address 0x0205
Valid Immediate
st
Set notch bandwidth for 1 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
st
Label 1 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.03
Byte length 16bit Attribute R/W 485 address 0x0207
Valid Immediate
st
Set notch depth for 1 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

nd
Label 2 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.04
Byte length 16bit Attribute R/W 485 address 0x0209
Valid Immediate
nd
Set center frequency of 2 torque command notch filter.
Set Pr2.04 to 4000 to deactivate notch filter
nd
Label 2 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.05
Byte length 16bit Attribute R/W 485 address 0x020B
Valid Immediate
nd
Set notch bandwidth for 2 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.
nd
Label 2 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.06
Byte length 16bit Attribute R/W 485 address 0x020D
Valid Immediate
st
Set notch depth for 1 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.
 rd
Label 3 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.07
Byte length 16bit Attribute R/W 485 address 0x020F
Valid Immediate
rd
Set center frequency of 3 torque command notch filter.
Set Pr2.07 to 4000 to deactivate notch filter
rd
Label 3 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.08
Byte length 16bit Attribute R/W 485 address 0x0211
Valid Immediate
rd
Set notch depth for 3 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.
rd
Label 3 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.09
Byte length 16bit Attribute R/W 485 address 0x0213
Valid Immediate
rd
Set notch depth for 3 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.
st
Label 1 damping frequency Valid mode(s) P
Range 0/10~2000 Unit 0.1Hz Default 0
Pr2.14
Byte length 16bit Attribute R/W 485 address 0x021D
Valid Immediate
Set Pr2.16 to 0 to deactivate this parameter.
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)
nd
Label 2 damping frequency Valid mode(s) P
Range 0/10~2000 Unit 0.1Hz Default 0
Pr2.16
Byte length 16bit Attribute R/W 485 address 0x0221
Valid Immediate
Set Pr2.16 to 0 to deactivate this parameter.
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)
 Label Position command smoothing filter Valid mode(s) P
Range 0~32767 Unit 0.1ms Default 0
Pr2.22
Byte length 16bit Attribute R/W 485 address 0x022D
Valid At stop
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 as show below.
Position
Velocity command Position command
after filter Filter
(RPM) before filter
switching
time
Vc
Vc 0.632 Position command
smoothing filter set
time(ms)
Vc 0.368 Pr2.22 x 0.1ms

Time
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.

Label Position command FIR filter Valid mode(s) P

Range 0~2500 Unit 0.1ms Default 0
Pr2.23 Byte length 16bit Attribute R/W 485 address 0x022F

Valid At stop
As shown below, when target velocity Vc square wave command reaches Vc, it becomes
trapezoidal wave after filtering.
Position
Velocity command Position command Filter
(RPM) before filtering after filtering switching
time
Vc
Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms

Time

As shown below, when target velocity Vc trapezoidal command reaches Vc, it becomes S
wave after filtering.
 Position
Velocity command Position command
(RPM) before filtering after filtering

Vc

Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms

Time
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)

Label Adjustment mode Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr2.48
Byte length 16bit Attribute R/W 485 address 0x0261
Valid Immediate

Value Description
【0】 Turn off automatic adjustments
Activate automatic adjustments, real time inertia measuring and vibration
1 suppression. Inertia measuring deactivated after reaching 4 times in 5
minutes, triggering conditions: changes in mechanical stiffness.

Label MFC type Valid mode(s) P S T

Range 0~3 Unit — Default 0
Pr2.50 Byte length 16bit Attribute R/W 485 address 0x0265
Valid Re-enable

Value Description
【0】 Model following control
1 Zero tracking control
2 3 inertia (future upgrade)
3 Path following (future upgrade)
 Velocity feedforward compensation P S T
Label Valid mode(s)
coefficient
Range -10000~10000 Unit — Default 0
Pr2.51
Byte 16bit Attribute R/W 485 address 0x0267
length
Valid Immediate
To compensate for velocity feedforward

Torque feedforward compensation P S T

Label Valid mode(s)
coefficient
Range -10000~10000 Unit — Default 0
Pr2.52
Byte 16bit Attribute R/W 485 address 0x0269
length
Valid Immediate
To compensate for torque feedforward

Dynamic friction compensation P S T

Label Valid mode(s)
coefficient
Range 0~1000 Unit % Default 0
Pr2.53
Byte 16bit Attribute R/W 485 address 0x026B
length
Valid Immediate
r To set ratio of rated torque/rated rotational speed, 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.

Label Overshoot time coefficient Valid mode(s) P S T

Range 0~10000 Unit % Default 0
Pr2.54 Byte 16bit Attribute R/W 485 address 0x026D
length
Valid Immediate
To set overshoot time coefficient

Label Overshoot suppression gain Valid mode(s) P S T

Range 0~10000 Unit % Default 0
Pr2.55
Byte 16bit Attribute R/W 485 address 0x026F
length
Valid Immediate
Suppression improves with larger set value but might affect the performance of MFC.
Please use with caution for any value above 100.
[Class 3] Velocity/Torque control

Label Velocity internal/external switching Valid mode(s) S

Range 0~3 Unit — Default 1
Pr3.00 Byte length 16bit Attribute R/W 485 address 0x0301
Valid Immediate
Connect to the right DI to control internal command velocity settings.
Value Velocity settings
0 Analog - Velocity command（SPR）
st th
【1】 Internal velocity settings 1 – 4 speed（Pr3.04～Pr3.07）
st rd
Internal velocity settings 1 – 3 speed（Pr3.04～P3.06）、Analog
2
velocity command（SPR）
st th
3 Internal velocity settings 1 – 8 speed（Pr3.00～Pr3.11）

Internal command Internal command Internal command

Velocity
Value velocity 1 velocity 2 velocity 3
command
（INTSPD 1） （INTSPD2） （INTSPD3）
st
OFF OFF 1 speed
nd
ON OFF 2 speed
1 No effect rd
OFF ON 3 speed
th
ON ON 4 speed
st
OFF OFF 1 speed
nd
ON OFF 2 speed
rd
2 OFF ON No effect 3 speed
Simulated
ON ON
speed
st th
Similar to Pr3.00=1 OFF 1 – 4 speed
th
OFF OFF ON 5 speed
3 ON OFF ON
th
6 speed
th
OFF ON ON 7 speed
th
ON ON ON 8 speed

Please change internal command velocity as per diagram below as unexpected axis
movement might occurs if 2 command velocities are changed at the same time.

Pr3.00=1 / 2 Pr3.00=3
 Velocity command rotational S
Label Valid mode(s)
direction selection
Pr3.01 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0303
Valid Immediate
To set positive/negative direction of velocity command
Velocity settings Velocity command
Velocity command
Value （Analog or internal sign selection（VC-
direction
velocity） SIGN ）

＋ No effect Positive
【0】
－ No effect Negative

1 No effect OFF Positive

No effect ON Negative

Label Velocity command input gain Valid mode(s) S T

Range 10~2000 Unit (r/min)/V Default 500
Pr3.02
Byte length 16bit Attribute R/W 485 address 0x0305
Valid Immediate
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

1. Do not supply more than ±10V power for analog velocity command (SPR).
2. If Pr3.02 set value is too large, it might cause vibration.
 Label Velocity command input inversion Valid mode(s) S
Range 0~1 Unit — Default 0
Pr3.03
Byte length 16bit Attribute R/W 485 address 0x0307
Valid Immediate
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 「Positive voltage」→「Positive direction」
inversed 「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.

Label 1st speed of velocity setting Valid mode(s) S

Range -10000~10000 Unit r/min Default 0
Pr3.04
Byte length 16bit Attribute R/W 485 address 0x0309
Valid Immediate
Label 2nd speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.05
Byte length 16bit Attribute R/W 485 address 0x030B
Valid Immediate
Label 3rd speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.06
Byte length 16bit Attribute R/W 485 address 0x030D
Valid Immediate
Label 4th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.07
Byte length 16bit Attribute R/W 485 address 0x030F
Valid Immediate
Label 5th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.08
Byte length 16bit Attribute R/W 485 address 0x0311
Valid Immediate
Label 6th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.09
Byte length 16bit Attribute R/W 485 address 0x0313
Valid Immediate
Label 7th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.10
Byte length 16bit Attribute R/W 485 address 0x0315
Valid Immediate
Label 8th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.11
Byte length 16bit Attribute R/W 485 address 0x0317
Valid Immediate
st th
To set internal velocity command 1 -8 speed
 Label Acceleration time settings Valid mode(s) S
Range Unit ms/ Default
0~10000 (1000rpm) 100
Pr3.12
Byte length 16bit Attribute R/W 485 address 0x0319
Valid Immediate
Label Deceleration time settings Valid mode(s) S
Range Unit ms/ Default
0~10000 100
Pr3.13 (1000rpm)
Byte length 16bit Attribute R/W 485 address 0x031B
Valid Immediate
Set max acceleration/deceleration for velocity command.

If target velocity = x [rpm], max acceleration = a [unit: rpm/ms], acceleration time = t [ms]
Pr3.12 = 1000/a
Pr3.13 = 1000/a
With added
a = x/t acceleration
Velocity Initial acceleration deceleration
(rpm)
For example: time is to achieve 1500rpm in 30s,
If motor timea=1500/30=50rpm/ms
settings
Pr3.12 = 1000/a= 20. Hence when Pr3.12 = 20, motor can achieve 1500rpm in 30s.

1000
(rpm)

PA3.12 PA3.13
Time(ms)

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.
 Sigmoid acceleration/deceleration S
Label Valid mode(s)
settings
Pr3.14 Range 0~1000 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0x031D
Valid After restart
To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and
Pr3.13.
Velocity Velocity
(RPM) ts ts after
acceleration/
Target deceleration
velocity settings
Vc
ta= Vc/1000 x Pr3.12 x 1ms
ts td= Vc/1000 x Pr3.13 x 1ms ts
Ts = Pr3.14 x 1ms
Use when ta/2>ts、td/2>ts
Time
ta td

Zero speed clamp function S

Label Valid mode(s)
selection
Pr3.15 Range 0~3 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x031F
Valid Immediate

Value Zero speed clamp function

0 Invalid: zero speed clamp deactivated
Velocity command is forced to 0 when the zero speed clamp (ZEROSPD) input
1
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

Label Zero speed clamp level Valid mode(s) S

Range 10~2000 Unit r/min Default 30
Pr3.16
Byte length 16bit Attribute R/W 485 address 0x0321
Valid Immediate
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.
Label Torque internal/external switching Valid mode(s) T
Range 0~3 Unit Default 0
Pr3.17
Byte length 16bit Attribute R/W 485 address 0x0323
Valid Immediate

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
 Label Torque command direction selection Valid mode(s) T
Range 0~1 Unit — Default 0
Pr3.18
Byte length 16bit Attribute R/W 485 address 0x0325
Valid Immediate
To set torque command positive/negative direction
Value Direction settings
TC-SIGN ON/OFF has no effect on torque direction
【0】 Torque command input「Positive」→Positive direction、
「Negative」→Negative direction
Use TC-SIGN ON/OFF status for torque direction
1 OFF: Positive direction ON: Negative direction

Label Torque command input gain Valid mode(s) T

Range 10~100 Unit 0.1V/100% Default 30
Pr3.19
Byte length 16bit Attribute R/W 485 address 0x0327
Valid Immediate
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%

Label Torque command input inversion Valid mode(s) T

Range 0~1 Unit — Default 0
Pr3.20
Byte length 16bit Attribute R/W 485 address 0x0329
Valid Immediate
To set voltage polarity of analog torque command.
Only valid when Pr3.18 = 0.
Value Motor torque direction
【0】 Not 「Positive voltage」→「Positive direction」
inversed 「Negative voltage」→「Negative direction」
1 Inversed 「Positive voltage」→「Positive direction」
「Negative voltage」→「Negative direction」
 Label Velocity limit in torque mode Valid mode(s) T
Range 0~10000 Unit r/min Default 0
Pr3.21
Byte length 16bit Attribute R/W 485 address 0x032B
Valid Immediate
To set velocity limit in torque control mode. Only valid when Pr3.17 = 0 / 2.

Label Torque command Valid mode(s) T

Range 0~300 Unit % Default 0
Pr3.22
Byte length 16bit Attribute R/W 485 address 0x032D
Valid Immediate
To set torque limit in torque control mode. Only valid when Pr3.17 = 2.
Please refer to Pr3.17.

Zero speed delay time in velocity S

Label Valid mode(s)
mode
Pr3.23 Range 0~2000 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0x032F
Valid Immediate
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.

Label Maximum motor rotational speed Valid mode(s) P S T

Range 0~10000 Unit r/min Default 0
Pr3.24
Byte length 16bit Attribute R/W 485 address 0x0331
Valid Immediate
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.

Label Analog 1 clamping voltage Valid mode(s) P S T

Range 0~20000 Unit mv Default 0
Pr3.29
Byte length 16bit Attribute R/W 485 address 0x033B
Valid Immediate
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.
Label Analog 3 clamping voltage Valid mode(s) P T
Range 0~20000 Unit mv Default 0
Pr3.30
Byte length 16bit Attribute R/W 485 address 0x033D
Valid Immediate
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.

Label Position comparison 1~42 target value Valid mode(s) P S T

31 31
Range -2 ~ 2 Unit - Default 0
Pr3.32~
Byte length 32bit Attribute R/W 485 address 0x0340~0x0393
Pr3.73
Valid Immediate Example：Pr3.32 H: 0x0340 L: 0x341
Pr3.33 H: 0x0342 L: 0x343
When target position (value) is reached, position comparison output will be depended on the
position comparison attribute value set.
 Position comparison 1 and 2 attribute P S T
Label Valid mode(s)
value
31 31
Pr3.74 Range -2 ~ 2 -1 Unit - Default 0
Byte length 32bit Attribute R/W 485 address H:0x0394
Valid Immediate L:0x0395
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
Output property settings：
6 =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
Output property settings：
22 =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
 Position comparison 3 and 4 attribute P S T
Label Valid mode(s)
value
31 31
Pr3.75 Range -2 ~ 2 -1 Unit - Default 0
Byte length 16bit Attribute R/W 485 address H:0x0396
Valid Immediate L:0x0397
To set attribute value for position comparison 3 and 4
Bit 0~15: Position comparison 3; Bit 16~31: Position comparison 4
Please refer to Pr3.74
Position comparison x and y attribute P S T
Label Valid mode(s)
value
Pr3.76~ Range 31 31
-2 ~ 2 -1 Unit - Default 0
Pr3.94
Byte length 16bit Attribute R/W 485 address 0x0398~0x03BD
Valid Immediate
To set attribute value for position comparison x and y
x,y = (3,4), (5,6)……..(41,42)
Bit 0~15: Position comparison x; Bit 16~31: Position comparison y
Please refer to Pr3.74

[Class 4] I/O Monitoring Settings

Label Input selection DI1 Valid mode(s) P S T

Range 0x00~0xFF Unit — Default 0x2
Pr4.00
Byte length 16bit Attribute R/W 485 address 0x0401
Valid Immediate
Please refer to the table below to set DI signals and table on the right for corresponding pin and parameters

Value
Symbol
Signal NO NC
Invalid — 0 - CN1
Input Parameters
Positive limit switch POT 1 81 PIN
Negative limit switch NOT 2 82 8 DI1 Pr4.00
Servo enabled SRV-ON 3 83 9 DI2 Pr4.01
Clear alarm A-CLR 4 - 26 DI3 Pr4.02
Control mode switching C-MODE 5 85 27 DI4 Pr4.03
Gain switching GAIN 6 86 28 DI5 Pr4.04
Clear deviation count CL 7 - 29 DI6 Pr4.05
Command pulse prohibited INH 8 88 30 DI7 Pr4.06
Torque limit switching TL-SEL 9 89 31 DI8 Pr4.07
Command frequency DIV1 C 8C 32 DI9 Pr4.08
divider/multiplier switching 33 DI10 Pr4.09
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

Servo enabled（SRV-ON）has to be allocated to enabled servo drive.

Inputs related to Pr-mode:
Value
Signal Symbol
NO NC
Trigger command CTRG 20 A0
Home HOME 21 A1
Forced stop STP 22 A2

Value
Signal Symbol
NO NC
Positive JOG PJOG 23 A3
Negative JOG NJOG 24 A4
Positive limit PL 25 A5
Negative limit NL 26 A6
Origin ORG 27 A7
Path address 0 ADD0 28 A8
Path address 1 ADD1 29 A9
Path address 2 ADD2 2A AA
Path address 3 ADD3 2B AB
Note: CTRG, HOME are edge triggered, please make sure electronic bits last 1ms or above.

Label Input selection DI2 Valid mode(s) P S T

Range 0x0~0xFF Unit — Default 0x1
Pr4.01
Byte length 16bit Attribute R/W 485 address 0x0403
Valid Immediate
Label Input selection DI3 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x0
Pr4.02 Byte length 16bit Attribute R/W 485 address 0x0405
Valid Immediate
Label Input selection DI4 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x6
Pr4.03
Byte length 16bit Attribute R/W 485 address 0x0407
Valid Immediate
Label Input selection DI5 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0xC
Pr4.04
Byte length 16bit Attribute R/W 485 address 0x0409
Valid Immediate
Label Input selection DI6 Valid mode(s) P S T

Pr4.05 Range 0x0~0xFF Unit — Default 0x3

Byte length 16bit Attribute R/W 485 address 0x040B
Valid Immediate
 Label Input selection DI7 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x7
Pr4.06
Byte length 16bit Attribute R/W 485 address 0x040D
Valid Immediate
Label Input selection DI8 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x4
Pr4.07
Byte length 16bit Attribute R/W 485 address 0x040F
Valid Immediate
Label Input selection DI9 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x5
Pr4.08
Byte length 16bit Attribute R/W 485 address 0x0411
Valid Immediate
Label Input selection DI10 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x8
Pr4.09 Byte length Attribute 485 address
16bit R/W 0x0411
Valid Immediate
·DI2~DI10allocation is the same as DI1. Please refer to Pr4.00.

Label Output selection DO1 Valid mode(s) P S T

Range 0x0~0xFF Unit — Default 0x3
Pr4.10
Byte length 16bit Attribute R/W 485 address 0x0415
Valid Immediate
Please allocate DO as per table below. ALARM logic is the opposite of others
Value
Signal Symbol
NO NC CN1
Output Parameters
00 80 Invalid — PIN
01 81 Alarm ALARM
11 DO1+
02 82 Servo-Ready SRDY Pr4.10
10 DO1-
03 83 External brake released BRK-OFF
35 DO2+
04 84 Positioning completed INP Pr4.11
34 DO2-
05 85 At-speed AT-SPPED
37 DO3+
06 86 Torque limit signal TLC Pr4.12
36 DO3-
07 87 Zero speed clamp detection ZSP
39 DO4+
08 88 Velocity coincidence V-COIN Pr4.13
38 DO4-
12 92 Servo Status SRV-ST
12 DO5 Pr4.14
15 95 Positive limit valid POT-OUT
16 96 Negative limit valid NOT-OUT 40 DO6 Pr4.15
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.
 Outputs related to PR-mode
Value
Signal Symbol
NO NC
Command completed CMD-OK 20 A0
Path completed PR-OK 21 A1
Homing done HOME-OK 22 A2

Note: CMD-OK indicates PR command is sent by axis might not yet be in position. PR-OK
indicates axis is in place.

Label Output selection DO2 Valid mode(s) P S T

Range 0x0~0xFF Unit — Default 0x2
Pr4.11
Byte length 16bit Attribute R/W 485 address 0x0417
Valid Immediate
Label Output selection DO3 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x1
Pr4.12
Byte length 16bit Attribute R/W 485 address 0x0419
Valid Immediate
Label Output selection DO4 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x4
Pr4.13
Byte length 16bit Attribute R/W 485 address 0x041B
Valid Immediate
Label Output selection DO5 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x7
Pr4.14 Byte length 16bit Attribute R/W 485 address 0x041D
Valid Immediate
Label Output selection DO6 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x6
Pr4.15
Byte length 16bit Attribute R/W 485 address 0x041F
Valid Immediate
DO2-DO6 is allocated by the same method as per DO1. Please refer to Pr4.10.
 Label Analog input 1(AI-1) Zero drift settings Valid mode(s) S
Range -1860~1860 Unit 5.37mv Default 0
Pr4.22 Byte length 16bit Attribute R/W 485 address 0x042D
Valid Immediate
To set zero drift compensation value on analog input 1 voltage for zero drift correction.
Label Analog input 1(AI-1) filter Valid mode(s) S
Range 0~6400 Unit 0.01ms Default 0
Pr4.23
Byte length 16bit Attribute R/W 485 address 0x042F
Valid Immediate
To set a delay filter time coefficient for AI1 input voltage. When filter time takes effect, input
voltage will be smoothen.
Analog input 1(AI-1) overvoltage S
Label settings Valid mode(s)
Pr4.24 Range 0~100 Unit 0.1V Default 0
Byte length 16bit Attribute R/W 485 address 0x0431
Valid Immediate
Pr4.24 is invalid when set to 0. Er270 might occur when the input voltage of AI1 is higher than
the voltage after zero drift correction.

Label Analog input 3(AI-3) Zero drift settings Valid mode(s) T

Range -1860~1860 Unit 5.37mv Default 0
Pr4.28
Byte length 16bit Attribute R/W 485 address 0x0439
Valid Immediate
To set zero drift compensation value on analog input 3 voltage for zero drift correction.
Label Analog input 3(AI-3) filter 有效模式 T
Range 0~6400 Unit 0.01ms Default 0
Pr4.29
Byte length 16bit Attribute R/W 485 address 0x043B
Valid Immediate
To set a delay filter time coefficient for AI3 input voltage. When filter time takes effect, input
voltage will be smoothen.
Analog input 3(AI-3) overvoltage T
Label Valid mode(s)
settings
Pr4.30 Range 0~100 Unit 0.1V Default 0
Byte length 16bit Attribute R/W 485 address 0x043D
Valid Immediate
Pr4.30 is invalid when set to 0. Er270 might occur when the input voltage of AI3 is higher
than the voltage after zero drift correction.
 Label Positioning complete range Valid mode(s) P
Range 0～ Unit Default
Pr5.21 set unit 20
Pr4.31 10000
Byte length 16bit Attribute R/W 485 address 0x043F
Valid Immediate
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)
Label Positioning complete output setting Valid mode(s) P
Range 0~4 Unit — Default 1
Pr4.32 Byte length 16bit Attribute R/W 485 address 0x0441
Valid Immediate
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.
Label INP positioning delay time Valid mode(s) P
Range 0~15000 Unit 1ms Default 0
Pr4.33 Byte length 16bit Attribute R/W 485 address 0x0443
Valid Immediate
Valid when Pr4.32 = 3.
Set value Positioning completed signal
0 Indefinite delay time, signal ON until next position command
OFF within the time set; ON after time set. Switch OFF after receiving next
1-15000
position command.
 Label Zero speed Valid mode(s) P S T
Range 1~2000 Unit r/min Default 50
Pr4.34
Byte length 16bit Attribute R/W 485 address 0x0445
Valid Immediate
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, Speed Positive

(RPM) direction
valid for both directions.
(Pr4.34+5) r/min
- Hysteresis of 5RPM. Please refer
to diagram on the right side.

(Pr4.34-5) r/min

Negative
direction

ZSP ON

Label Velocity coincidence range Valid mode(s) S

Range 10~2000 Unit r/min Default 50
Pr4.35
Byte length 16bit Attribute R/W 485 address 0x0447
Valid Immediate
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 -> ON timing (Pr4.35 -10) r/min
Velocity coincidence output ON -> OFF timing (Pr4.35 +10) r/min
Position command after
acceleration time
Velocity Velocity settings added Pr4.35
(RPM) command Velocity coincidence
range

Motor
Pr4.35 speed
Velocity
coincidence Pr4.35 Time
range Velocity
coincidence range
Velocity ON ON
coincidence
V-COIN OFF OFF
 Label Arrival velocity Valid mode(s) S
Range 10~2000 Unit r/min Default 1000
Pr4.36
Byte length 16bit Attribute R/W 485 address 0x0449
Valid Immediate
When motor velocity > Pr4.36, AT-speed output signal is valid.
Detection using 10RPM hysteresis.

Label Motor power-off delay time Valid mode(s) P S T

Range 0~3000 Unit 1ms Default 150
Pr4.37
Byte length 16bit Attribute R/W 485 address 0x044B
Valid Immediate
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.

Label Holding brake release time Valid mode(s) P S T

Range 0~3000 Unit 1ms Default 0
Pr4.38
Byte length 16bit Attribute R/W 485 address 0x044D
Valid Immediate
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.
ON

Off
SRV_ON OFF
Brake released
(BRK_ON)
Brake *4
BRK_OFF ON *1
On

off
Motor Power
*2 Released *2

Actual holding Braked Braked

brake status

*3
Motor
t
Velocity
 *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.
Label Holding brake activation speed Valid mode(s) P S T
Range 30~3000 Unit r/min Default 30
Pr4.39 Byte length 16bit Attribute R/W 485 address 0x044F
Valid Immediate
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.

Label Emergency stop function Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr4.43 Byte length 16bit Attribute R/W 485 address 0x0457
Valid Immediate

Value Description.
Emergency stop is valid, servo driver will be forced to STOP and Err570
【0】
occurs.
Emergency stop is invalid, servo driver will not be forced to STOP. Servo
1 can be enabled once E-STOP signal is cleared.
 Label AO1 output Valid mode(s) P S T
Range 0~10 Unit — Default 0
Pr4.64
Byte length 16bit Attribute R/W 485 address 0x0481
Valid Immediate
Value Description
【0】 Negative/Positive value: -10~10V
1 Absolute value output: 0~10V
Other Reserved
Label AO1 signal Valid mode(s) P S T
Range 0x0~0x7FFFFFFF Unit — Default 0x4
Pr4.65
Byte length 16bit Attribute R/ 485 address 0x0483
Valid Immediate W
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
Label AO1 amplification Valid mode(s) P S T
Range -10000~10000 Unit 0.01 Default 100
Pr4.66
Byte length 16bit Attribute R/W 485 address 0x0485
Valid Immediate
To set the amplification of AO1, actual voltage output = amplification x theoretical voltage
Label AO1 communication settings Valid mode(s) P S T
Range -10000~10000 Unit mV Default 0
Pr4.67
Byte length 16bit Attribute R/W 485 address 0x0487
Valid Immediate
Available when AO1 = 0xB
Label AO1 offset Valid mode(s) P S T
Range -10000~10000 Unit mV Default 0
Pr4.68
Byte length 16bit Attribute R/W 485 address 0x0489
Valid Immediate
To set AO1 offset value.
 Label AO2 output Valid mode(s) P S T
Range 0~10 Unit — Default 0
Pr4.69
Byte length 16bit Attribute R/W 485 address 0x048B
Valid Immediate
Value Description
【0】 Negative/Positive value: -10~10V
1 Absolute value output: 0~10V
Other Reserved
Label AO2 signal Valid mode(s) P S T
Range 0x0~0xFFFF Unit — Default 0x1
Pr4.70
Byte length 16bit Attribute R/W 485 address 0x048D
Valid Immediate
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 Pr4.72
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
Label AO2 amplification Valid mode(s) P S T
Range -10000~10000 Unit 0.01 Default 100
Pr4.71
Byte length 16bit Attribute R/W 485 address 0x048F
Valid Immediate
To set the amplification of AO2, actual voltage output = amplification x theoretical voltage.
Label AO2 communication settings Valid mode(s) P S T
Range -10000~10000 Unit mV Default 0
Pr4.72
Byte length 16bit Attribute R/W 485 address 0x0491
Valid Immediate
Available when AO1 = 0xB
Label AO2 offset Valid mode(s) P S T
Range -10000~10000 Unit mV Default 0
Pr4.73
Byte length 16bit Attribute R/W 485 address 0x0493
Valid Immediate
To set AO2 offset value.
 Label Warning indicator light 1 signal Valid mode(s) P S T
Range 0~100 Unit - Default 1
Pr4.74
Byte length 16bit Attribute R/W 485 address 0x0495
Valid Immediate
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
During normal operation, warning indicator light will be lighted in a cycle.
Label Warning indicator light 2 signal Valid mode(s) P S T
Range 0~100 Unit - Default 2
Pr4.75
Byte length 16bit Attribute R/W 485 address 0x0497
Valid Immediate
To select warning signal for warning indicator light 2, as per table in Pr4.74
Label Warning indicator light 3 signal Valid mode(s) P S T
Range 0~100 Unit - Default 3
Pr4.76
Byte length 16bit Attribute R/W 485 address 0x0499
Valid Immediate
To select warning signal for warning indicator light 3, as per table in Pr4.74
Label Warning indicator light 4 signal Valid mode(s) P S T
Range 0~100 Unit - Default 4
Pr4.77
Byte length 16bit Attribute R/W 485 address 0x049B
Valid Immediate
To select warning signal for warning indicator light 4, as per table in Pr4.74
Label Warning indicator light 5 signal Valid mode(s) P S T
Range 0~100 Unit - Default 5
Pr4.78
Byte length 16bit Attribute R/W 485 address 0x049D
Valid Immediate
To select warning signal for warning indicator light 5, as per table in Pr4.74

[Class 5] Extension Settings

nd
Label 2 pulse count per revolution Valid mode(s) P
Range 0-67108864 Unit PULSE Default 10000
Pr5.00 Byte length 32bit Attribute R/W 485 address H: 0x0500
L: 0x0501
Valid After restart
Switch between Pr0.08 and Pr5.00 with DI signal DIV1.
When switch to Pr5.00:
（1）Pr5.00 valid when ≠ 0:
Motor revolution = Input pulse count / [Pr5.00 set value]
（2）Pr5.00 invalid when = 0:
Actual position pulse count is according to Pr5.01 and Pr5.02.
Switching with DIV1 signal only valid when servo drive is re-enabled.
 nd
2 Command frequency Valid mode(s) P
Label
divider/multiplier numerator
Range 1~1073741824 Unit — Default 1
Pr5.01
Byte length 32bit Attribute R/ 485 address H: 0x0502
W L: 0x0503
Valid After restart
To set command pulse input frequency division and multiplication numerator
nd
2 Command frequency Valid mode(s) P
Label
divider/multiplier denominator
Range 1~1073741824 Unit — Default 1
Pr5.02
Byte length 32bit Attribute R/ 485 address H: 0x0504
W L: 0x0505
Valid After restart
To set command pulse input frequency division and multiplication denominator. Please refer
to Pr0.09 and Pr0.10. Switch using DIV1 signal.

Label Driver prohibition input settings Valid mode(s) P S T

Range 0/1/2 Unit — Default 0
Pr5.04 Byte length 16bit Attribute R/W 485 address 0x0509
Valid Immediate
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

Label Servo-off mode Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr5.06
Byte length 16bit Attribute R/W 485 address 0x050D
Valid Immediate
To set servo driver disable mode and status.
Description
Value
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

Servo braking: Stop servo axis quickly using braking torque

Pr5.06 only effective for stopping under normal circumstances. For stopping on alarm
occurrence but refer to Pr5.10
 Label Main power-off detection time Valid mode(s) P S T
Range 50~200 Unit ms Default 50
Pr5.09
Byte length 16bit Attribute R/W 485 address 0x0513
Valid Immediate
To set delay time for detection of main power-off or low voltage supply.

Label Servo-off due to alarm mode Valid mode(s) P S T

Range 0~2 Unit — Default 0
Pr5.10
Byte length 16bit Attribute R/W 485 address 0x0515
Valid After restart
To set servo driver disable mode and status if alarm is triggered.
Alarm type 2:
Explanation
Value
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:
Explanation
Value
Mode Status
0
1 Dynamic braking Dynamic braking
2
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run

Label Servo braking torque setting Valid mode(s) P S T

Range 0~500 Unit % Default 0
Pr5.11
Byte length 16bit Attribute R/W 485 address 0x0517
Valid Immediate
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.
 Label Overload level setting 有效模式 P S T
Range 0~115 Unit % Default 0
Pr5.12
Byte length 16bit Attribute R/W 485 address 0x0519
Valid Immediate
· 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

Label Overspeed level settings Valid mode(s) P S T

Range 0~10000 Unit r/min Default 0
Pr5.13
Byte length 16bit Attribute R/W 485 address 0x051B
Valid Immediate
If motor speed exceeds Pr5.13, Er1A0 might occur.
When Pr5.13 = 0, overspeed level = max. motor speed x 1.2

Label I/O digital filter Valid mode(s) P S T

Range 0~255 Unit 0.1ms Default 0
Pr5.15
Byte length 16bit Attribute R/W 485 address 0x051F
Valid After restart
Digital filtering of I/O input. Overly large value set will cause control delay.

Label Counter clearing input mode Valid mode(s) P

Range 0~4 Unit — Default 3
Pr5.17
Byte length 16bit Attribute R/W 485 address 0x0523
Valid Immediate
To set the clearing conditions for deviation counter clearing input signal.
Value Condition
0/2/4 Invalid
1 Always clear
3 Clear only once (Rising edge trigger)

Label Position unit settings Valid mode(s) P

Range 0~2 Unit — Default 1
Pr5.20
Byte length 16bit Attribute R/W 485 address 0x0529
Valid Immediate
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
 Label Torque limit selection Valid mode(s) P S T
Range 0~6 Unit — Default 0
Pr5.21
Byte length 16bit Attribute R/W 485 address 0x052B
Valid Immediate

Value Limit
st
【0】 1 torque limit Pr0.13
nd
1 2 torque limitPr5.22
TL-SEL OFF Pr0.13
2
TL-SEL ON Pr5.22
3~4 Reserved
Pr0.13 →Positive torque limit
5 Pr5.22 →Negative torque limit

nd
Label 2 torque limit Valid mode(s) P S T
Range 0~500 Unit % Default 300
Pr5.22 Byte length 16bit Attribute R/W 485 address 0x052D
Valid Immediate
Pr5.22 is limited by max. torque set in motor parameter.

Label Positive torque warning threshold Valid mode(s) P S T

Range 0~300 Unit % Default 0
Pr5.23
Byte length 16bit Attribute R/W 485 address 0x052F
Valid Immediate
Default = 0, which is 95%. Other values only valid when Pr5.21 = 5.
If actual torque higher than threshold, TLC torque limit signal will be valid.
Label Negative torque warning threshold Valid mode(s) P S T
Range 0~300 Unit % Default 0
Pr5.24
Byte length 16bit Attribute R/W 485 address 0x0531
Valid Immediate
Default = 0, which is 95%. Other values only valid when Pr5.21 = 5.
If actual torque higher than threshold, TLC torque limit signal will be valid.
 Label LED initial status Valid mode(s) P S T
Range 0~35 Unit — Default 1
Pr5.28
Byte length 16bit Attribute R/W 485 address 0x0539
Valid Immediate
To set content display on front panel of the servo driver at servo driver power on.

Value Display Value Display Value Display

Position Encoder
command Error cause and position
0 12 history record 24
deviation deviation
【1】 Motor speed 13 Alarm code 25 Internal usage
Position Regenerative
2 command 14 26 Internal usage
velocity load rate
Velocity control Voltage across
3 command 15 Overload rate 27 PN
Actual feedback Software
4 torque 16 Inertia ratio 28 version
Feedback pulse No rotation
5 sum 17 cause 29 Internal usage
No. of encoder
Command No. of changes
6 pulse sum 18 in I/O signals 30 communication
error
Maximum Accumulated
7 torque during 19 Internal usage 31
motion uptime
Position
Absolute
8 command 20 encoder data 32 Internal usage
frequency
Encoder single Driver
9 Control mode 21 33 temperature
turn data
I/O signal Encoder multi
10 22 34 Servo status
status turn data
485 receive
11 Analog input 23 35 Internal usage
frame
 Label RS485 communication mode Valid mode(s) P S T
Range 0~255 Unit — Default 5
Pr5.29
Byte length 16bit Attribute R/W 485 address 0x053B
Valid After restart

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

Label RS485 communication Baud rate Valid mode(s) P S T

Range 0~15 Unit — Default 4
Pr5.30
Byte length 16bit Attribute R/W 485 address 0x053D
Valid After restart

Value Baud rate Value Baud rate

0 2400bps 【4】 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
Baud rate tolerance: 2400～38400bps±0.5%, 57600～115200bps±2%

Label RS485 axis address Valid mode(s) P S T

Range 0~127 Unit — Default 1
Pr5.31
Byte length 16bit Attribute R/W 485 address 0x053F
Valid After restart
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
Label Max. command pulse input frequency Valid mode(s) P
Range 0~8000 Unit kHz Default 4100
Pr5.32
Byte length 16bit Attribute R/W 485 address 0x0541
Valid Immediate
Please set the max. frequency required for command pulse input. Er1B0 will occur, if
command pulse input frequency exceeds Pr5.32.

Label Front panel lock setting Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr5.35
Byte length 16bit Attribute R/W 485 address 0x0547
Valid Immediate
Value Description
【0】 Front panel not lock
1 Only parameter modification through front panel is locked
 Torque saturation alarm detection Valid mode(s) P S T
Label
time
Pr5.37 Range 0~5000 Unit ms Default 500
Byte length 16bit Attribute R/W 485 address 0x0549
Valid Immediate
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.

Frequency divider output – Z-signal Valid mode(s) P S T

Label
polarity
Pr5.42 Range 0~7 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0555
Valid Disabled
Bit Polarity Description
0 = Positive Z polarity setting of frequency divider output and
Bit0
1 = Negative position comparison
0 = Positive Only valid in position comparison.
Bit1 Polarity setting when phase A frequency divider
1 = Negative
as position comparison output
Only valid in position comparison.
Bit2 0 = Positive Polarity setting when phase B frequency divider
as position comparison output
Frequency divider output – Z-signal Valid mode(s) P S T
Label
width
Pr5.43 Range 0~500 Unit μs Default 0
Byte length 16bit Attribute R/W 485 address 0x0557
Valid After restart
Value Description
【0】 Z bandwidth equivalent to 1 cycle of A/B
1~500 Delay setting on top of A/B cycle width
When Pr5.43 = 0, width of frequency divider output Z-signal is equivalent to width of 1 cycle
of A/B, value set in Pr5.43 + A/B cycle width = delay setting.

Z A/B cycle

Pr5.43
 Label Frequency divider output source Valid mode(s) P S T
Range 0~4 Unit — Default 0
Pr5.44
Byte length 16bit Attribute R/W 485 address 0x0559
Valid After restart

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

Label Vent overload level Valid mode(s) P S T

Range 0~115 Unit % Default 0
Pr5.46
Byte length 16bit Attribute R/W 485 address 0x055D
Valid After restart
Value Description
【0】 Default level: 80%
1~115 Set vent overload level accordingly

Label Enable position comparison Valid mode(s) P

Range 0~1 Unit — Default 0
Pr5.70
Byte length 16bit Attribute R/W 485 address 0x058D
Valid Immediate

Value Description
【0】 Disable
1 Enable （Rising edge）

Label Position comparison mode Valid mode(s) P

Range 0~2 Unit — Default 0
Pr5.71
Byte length 16bit Attribute R/W 485 address 0x058F
Valid Immediate
Value Description
【0】 Single comparison
1 N cycles comparison
2 Cycle comparison
Detailed explanations is available in Chapter 6 Application under Position Comparison
section

Position comparison pulse output Valid mode(s) P

Label
bandwidth
Pr5.72 Range 1~4095 Unit 0.1ms Default 0
Byte length 16bit Attribute R/W 485 address 0x0591
Valid Immediate
To set output signal pulse width of position comparison.
 Position comparison output delay Valid mode(s) P
Label
offset
Pr5.73 Range -10000~10000 Unit 0.1μs Default 0
Byte length 16bit Attribute R/W 485 address 0x0593
Valid Immediate
To set delay time compensation for delay due to DO/ frequency divider
Label Position comparison starting point Valid mode(s) P
Range 1~42 Unit - Default 1
Pr5.74
Byte length 16bit Attribute R/W 485 address 0x0595
Valid Immediate
To set the starting point of position comparison.
Label Position comparison end point Valid mode(s) P
Range 1~42 Unit - Default 2
Pr5.75
Byte length 16bit Attribute R/W 485 address 0x0597
Valid Immediate
To set the end point of position comparison.
Label No. of cycles for N cycle comparison Valid mode(s) P
Range 1~50000 Unit - Default 1
Pr5.76
Byte length 16bit Attribute R/W 485 address 0x0599
Valid Immediate
To set the number of cycles for N cycles comparison in position comparison.
Position comparison – Set current Valid mode(s) P
Label
position as origin
Pr5.77 Range 1~50000 Unit - Default 1
Byte length 16bit Attribute R/W 485 address 0x059B
Valid Immediate
Set origin for position comparison, set current position as origin at rising edge.
Value Description
【0】 Disable
1 Enable （Rising edge）

Label Position comparison - offset to origin Valid mode(s) P

Range 1~50000 Unit - Default 1
Pr5.78
Byte length 16bit Attribute R/W 485 address 0x059D
Valid Immediate
To set offset value of position in comparison to origin set in Pr5.77

[Class 6] Other settings

Label Encoder zero position compensation Valid mode(s) P S T

Range Electrical Default
0~360 Unit 0
Pr6.01 angel
Byte length 16bit Attribute R/W 485 address 0x0603
Valid Power-off
Zero position compensation for encoder zero drift to avoid abnormality due to zero drift.
 Label JOG trial run torque command Valid mode(s) T
Range 0~350 Unit % Default 350
Pr6.03
Byte length 16bit Attribute R/W 485 address 0x0607
Valid Immediate
To set torque for JOG trial run command.
Label JOG trial run velocity command Valid mode(s) P S T
Range 0~10000 Unit r/min Default 30
Pr6.04
Byte length 16bit Attribute R/W 485 address 0x0609
Valid Immediate
To set velocity for JOG trial run command.

rd
Label Position 3 gain valid time Valid mode(s) P
Range 0~10000 Unit 0.1ms Default 0
Pr6.05
Byte length 16bit Attribute R/W 485 address 0x060B
Valid Immediate
rd
To set time for 3 gain to be valid
Only available in position mode
When not in use, set Pr6.05=0, Pr6.06=100
rd
Label Position 3 gain scale factor Valid mode(s) P
Range 50~1000 Unit 100% Default 100
Pr6.06
Byte length 16bit Attribute R/W 485 address 0x060D
Valid Immediate
rd st
Set up the 3 gain by multiplying factor of the 1 gain
Position command velocity
(RPM)
Effective time
Pr6.05 x 0.1ms

2nd gain 3rd gain 1st gain

Pr1.05~Pr1.09 Pr1.00~Pr1.04

Position loop gain = Pr1.00 x Pr6.06/100

Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant，Velocity detection filter，
Torque filter time constant still uses 1st gain

Above diagram is illustrated using Pr1.15 = 7.

rd st
3 gain= 1 gain * Pr6.06/100
Only effective under position control mode. 3 gain valid when Pr6.05 ≠ 0. Set 3 gain value
rd rd
nd st rd
in Pr6.06. When 2 gain switches to 1 gain, it will go through 3 , switching time is set in
Pr1.19.
 Label Torque command additional value Valid mode(s) P S T
Range -100~100 Unit % Default 0
Pr6.07
Byte length 16bit Attribute R/W 485 address 0x060F
Valid Immediate
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)

Positive direction torque Valid mode(s) P S T

Label
compensation value
Pr6.08 Range -100~100 Unit % Default 0
Byte length 16bit Attribute R/W 485 address 0x0611
Valid Immediate
Negative direction torque Valid mode(s) P S T
Label
compensation value
Pr6.09 Range -100~100 Unit % Default 0
Byte length 16bit Attribute R/W 485 address 0x0613
Valid Immediate
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.

Applications:
1. When motor is at constant speed, d04 will deliver torque values.
Torque value in positive direction = T1;
Torque value in negative direction = T2

Pr6.08/Pr6.09 = Tf =

Positive/Negative compensation corresponds to actual position feedback.

Positive torque compensation value = +(Pr6.08=+Tf)
Negative torque compensation value = -(Pr6.08=+Tf)
Pr6.08 =x, Pr6.09=y; friction compensation value = |x-y|/2

Label Current response settings Valid mode(s) P S T

Range 50~100 Unit % Default 100
Pr6.11
Byte length 16bit Attribute R/W 485 address 0x0617
Valid Immediate
To set driver current loop related effective value ratio.
 Label Max. time to stop after disabling Valid mode(s) P S T
Range 0~1000 Unit ms Default 500
Pr6.14
Byte length 16bit Attribute R/W 485 address 0x061D
Valid Immediate
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.

Label Trial run distance Valid mode(s) P

Range 0~1200 Unit 0.1rev Default 10
Pr6.20
Byte length 16bit Attribute R/W 485 address 0x0629
Valid Immediate
JOG (Position control) : Distance travel of each motion.

Label Trial run waiting time Valid mode(s) P

Range 0~10000 Unit ms Default 300
Pr6.21
Byte length 16bit Attribute R/W 485 address 0x062B
Valid Immediate
JOG (Position control) : Waiting time interval after each motion cycle

Label No. of trial run cycles Valid mode(s) P

Range 0~10000 Unit — Default 5
Pr6.22
Byte length 16bit Attribute R/W 485 address 0x062D
Valid Immediate
JOG (Position control) : No. of cycles
When Pr6.22, trial run goes into endless cycles.
Label Trial run acceleration Valid mode(s) P S
Range 0~10000 Unit ms Default 200
Pr6.25
Byte length 16bit Attribute R/W 485 address 0x0633
Valid Immediate
To set the acceleration/deceleration time for JOG command between 0 rpm to 1000 rpm
 Label Observer gain Valid mode(s) P S
Range 0~32767 Unit % Default 0
Pr6.28
Byte length 16bit Attribute R/W 485 address 0x0639
Valid Immediate
0：Default stable gain 1：OFF
x：(unit：%) Manual, related to motor, load and encoder
Label Observer filter Valid mode(s) P S
Range 0~32767 Unit μs Default 0
Pr6.29
Byte length 16bit Attribute R/W 485 address 0x063B
Valid Immediate
0：Default stable observer filter 1：OFF
x：(unit：μs) Manual, related to motor, load and encoder

Blocked rotor alarm torque Valid mode(s) P S

Label
threshold
Pr6.56 Range 0~300 Unit % Default 300
Byte length 16bit Attribute R/W 485 address 0x0671
Valid Immediate
To set the torque threshold of blocked rotor to trigger alarm. (Alarm triggered if torque
output% larger than threshold value & under 10rpm)
If Pr6.56 = 0, blocked rotor alarm deactivated.
If motor speed is 10rpm or above, Er102 won’t be triggered.
Label Blocked rotor alarm delay time Valid mode(s) P S
Range 1~10000 Unit ms Default 400
Pr6.57
Byte length 16bit Attribute R/W 485 address 0x0673
Valid Immediate
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;
Torque（%）

300
Torque during Diagram shows
blocked
Torque during blocked rotor with
normal operation
70 speed under 10rpm

If the rotor is blocked

Normal speed
but with speed over
3000r/min 10rpm, Er102 would
not be triggered but
Speed during block
(below 10rpm)
Er100 might occur.
10r/min

Alarm
Pr6.57(ms)
Er102 alarm
 Label Absolute multiturn data upper limit Valid mode(s) P S T
Range 0~32766 Unit rev Default 0
Pr6.63
Byte length 16bit Attribute R/W 485 address 0x067F
Valid After restart
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.

[Class 7] Factory settings

*Please take precaution when modifying Class 7 parameters. Might cause driver errors
Label Motor model Valid mode(s) P S T
Range 0x0~0x7FFF Unit — Default 0x200
Pr7.15
Byte length 16bit Attribute R/W 485 address 0x071F
Valid After restart
Value Description
0x100 Read from EEPROM
[0x200] Read from Encoder
When Pr7.15 = 0x200(2xx):
Parameter Label
Pr7.00 Current loop gain
Pr7.01 Current loop integral time
Pr7.05 No. of motor pole pairs
Pr7.06 Motor phase resistance
Pr7.07 Motor D/Q induction
Pr7.08 Motor back EMF coefficient
Pr7.09 Motor torque coefficient
Pr7.10 Motor rated rotational speed
Pr7.11 Motor max. rotational speed
Pr7.12 Motor rated current
Pr7.13 Motor rotor inertia
Pr7.14 Driver power rating
Pr7.16 Encoder
Pr7.17 Motor max. current
Pr7.18 Encoder index angle compensation
Label Encoder Valid mode(s) P S T
Range 0x0~0x200 Unit — Default 编码器决定
Pr7.16
Byte length 16bit Attribute R/W 485 address 0x0721
Valid After restart
To select encoder type. Typically, encoder specifications are automatically read.
Value Description
0x0 17-bit encoder
0x7 23-bit encoder

Label External grating ruler precision Valid mode(s) P S T

Range 1~1000000 Unit nm Default 100
Pr7.54
Byte length 16bit Attribute R/W 485 address 0x076D
Valid After restart
To select external grating ruler precision
[Class B] Status Parameters

Label Software version 1（DSP） Valid mode(s) P S T

PrB.00 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B00
Show DSP software version info.
Label Software version 2（CPLD） Valid mode(s) P S T
PrB.01 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B01
Show software version info.
Label Software version 3（Others） Valid mode(s) P S T
PrB.02 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B02
Show software version info.

Label Current alarm Valid mode(s) P S T

PrB.03 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B03
Show current alarm

Label Motor not rotating cause Valid mode(s) P S T

PrB.04 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B04
Show cause of motor not rotating

Label Driver operation status Valid mode(s) P S T

PrB.05 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B05
Bit Status Description
0 RDY Servo is ready
1 RUN Servo is running
2 ERR Driver error
3 HOME_OK Homing completed
4 INP In position
5 AT-SPEED Velocity reached
6~15 Reserved

Label Motor speed (Before filter) Valid mode(s) P S T

PrB.06 Range / Unit rpm Default /
Byte length 16bit Attribute R 485 address 0x0B06
Motor actual speed

Label Motor torque Valid mode(s) P S T

PrB.07 Range / Unit % Default /
Byte length 16bit Attribute R 485 address 0x0B07
The percentage of motor actual torque and rated torque

Label Motor current Valid mode(s) P S T

PrB.08 Range / Unit 0.01A Default /
Byte length 16bit Attribute R 485 address 0x0B08
Motor actual current
 Label Motor speed (After filter) Valid mode(s) P S T
PrB.09 Range / Unit rpm Default /
Byte length 16bit Attribute R 485 address 0x0B09
Motor speed after motor actual speed filtering

Label DC bus voltage Valid mode(s) P S T

PrB.10 Range / Unit V Default /
Byte length 16bit Attribute R 485 address 0x0B0A
Driver DC bus actual voltage

Label Driver temperature Valid mode(s) P S T

PrB.11 Range / Unit °C Default /
Byte length 16bit Attribute R 485 address 0x0B0B
Actual driver temperature

Label External analog 1 Valid mode(s) P S T

PrB.12 Range / Unit 0.01V Default /
Byte length 16bit Attribute R 485 address 0x0B0C
Driver analog input 1

Label External analog 2 Valid mode(s) P S T

PrB.13 Range / Unit 0.01V Default /
Byte length 16bit Attribute R 485 address 0x0B0D
Driver analog input 2

Label External analog 3 Valid mode(s) P S T

PrB.14 Range / Unit 0.01V Default /
Byte length 16bit Attribute R 485 address 0x0B0E
Driver analog input 3

Label Motor overload rate Valid mode(s) P S T

PrB.15 Range / Unit % Default /
Byte length 16bit Attribute R 485 address 0x0B0F
Motor overload rate

Label Vent overload rate Valid mode(s) P S T

PrB.16 Range / Unit % Default /
Byte length 16bit Attribute R 485 address 0x0B10
Vent overload rate

Label Physical I/O input status Valid mode(s) P S T

PrB.17 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B04
Driver physical I/O input bit0 corresponds to DI1, bit1 to DI2 and so on;
Bitn=1, DIn+1 high level signal input; Bitn=0, DIn+1 low level signal input

Label Cause of motor not rotating Valid mode(s) P S T

PrB.18 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B04
Driver physical I/O output bit0 corresponds to DO1, bit1 to DO2 and so on;
Bitn=1, DOn+1 high level signal output; Bitn=0 indicates DOn+1 low level signal output
 Label Command position (Command unit) Valid mode(s) P
Range / Unit P Default /
PrB.20
Byte length 32bit Attribute R 485 address H: 0x0B14
L: 0x0B15
Driver receives command pulse count. Driver command unit: 10000 pulses/rev, Encoder
unit: 8388608 pulses/rev. If driver receives 8388608 pulses, 10000P will be shown.

Label Motor position (Command unit) Valid mode(s) P

Range / Unit P Default /
PrB.21
Byte length 32bit Attribute R 485 address H: 0x0B16
L: 0x0B17
Motor position feedback. Driver command unit: 10000 pulses/rev, Encoder unit: 8388608
pulses/rev. If driver receives 8388608 pulses, 10000P will be shown.

Label Position deviation (Command unit) Valid mode(s) P

Range / Unit P Default /
PrB.22
Byte length 32bit Attribute R 485 address H: 0x0B18
L: 0x0B19
Shows position deviation. Please refer to PrB.20.

Label Command position (Encoder unit) Valid mode(s) P

Range / Unit P Default /
PrB.23
Byte length 32bit Attribute R 485 address H: 0x0B1A
L: 0x0B1B
Driver receives command pulse count. Driver command unit: 10000 pulses/rev, Encoder
unit: 8388608 pulses/rev. If driver receives 10000 pulses, 8388608 pulses will be shown.

Label Motor position (Encoder unit) Valid mode(s) P

Range / Unit P Default /
PrB.24
Byte length 32bit Attribute R 485 address H: 0x0B1C
L: 0x0B1D
Driver receives motor encoder feedback pulses

Label Position deviation (Encoder unit) Valid mode(s) P

Range / Unit P Default /
PrB.25
Byte length 32bit Attribute R 485 address H: 0x0B1E
L: 0x0B1F
Shows position deviation. Please refer to PrB.23.

Rotational encoder position feedback Valid mode(s) P

Label
(Command unit)
PrB.26 Range / Unit P Default /
Byte length 32bit Attribute R 485 address H: 0x0B20
L: 0x0B21
Motor position under rotary mode. Please refer to PrB.21
[Class 8] PR control parameters

Label PR Control Valid mode(s) PR

Pr8.00 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6000
It is recommended to modify PR control parameters using Motion Studio.

Bit 3 2 1 0
Description =1, absolute value =1, reset upon =1, software position =0, CTRG rising
memory power on limit valid edge trigger
=0, absolute value =0, no reset =0, software position =1, double edges
with no memory upon power on limit not valid trigger
If parameter modifications are done through the front panel or parameters list, please keep in
mind that PR control parameters byte are decimal system.
For example: If Bit 3, 2, 1, 0 are to be set to 1 (1111). Conversion using decimal system,
1111 = 15, Pr8.00 is to be set to 15.

Label Path count Valid mode(s) PR

Pr8.01 Range 16 Unit / Default 16
Byte length 16bit Attribute R 485 address 0X6001
Fixed on 16 paths

Label Control Operation Valid mode(s) PR

Pr8.02 Range 0x0 ~ 0xFFFF Unit / Default 0x0
Byte length 16bit Attribute R/W 485 address 0X6002
Attributes of Pr8.02 functions are divided into Read/Write. P refers to positioning motion of N
path. Please refer to the following table.
Attribute Address Description
Write 0x01P N path positioning
Write 0x020 Reset
Write 0x021 Manually set currently position as 0 (Origin)
Write 0x040 Emergency stop
Read 0x000P Positioning completed. Ready to receive new data
Read 0x01P,
0x020, Yet to respond to command
0x040
Read 0x10P Path motion undergoing
Read 0x200 Command completed. Waiting for positioning

Label Software positive limit H Valid mode(s) PR

Pr8.06 Range 0~ 65535 Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6006
High bit of software positive limit；(Only valid using 485 communication)
 Label Software positive limit (L) Valid mode(s) PR
Range -2147483648~ Default
Pr8.07 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6007
To set software positive limit position (32 bit base)
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.06
When software positive limit = 994817, 0x000F2E01(Hexadecimal)
high16bit = 0x000F, hence Pr8.05 reading = 0x000F, controller = 15.
R/W of high/low bit data is similar when using 485 communication.
Label Software negative limit H Valid mode(s) PR
Pr8.08 Range 0~ 0x65535 Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6008
High bit of software negative limit；(Only valid using 485 communication)

Label Software negative limit (L) Valid mode(s) PR

Range -2147483648~ Default
Pr8.09 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6009
To set software positive limit position.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.08.

Label Homing mode Valid mode(s) PR

Pr8.10 Range 0~ 0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600A
To set homing method in PR mode. It is recommended to modify PR control parameters
using Motion Studio.
Bit 8（Z-signal 2-7（Homing mode） 1（Specific position 0（Homing
homing） after homing） direction）
Description =1, homing with =0 Limit homing =1, Yes =1, Forward
Z-signal =1 Origin homing =0, No =0, Reverse
=0, homing =2 Single turn Z
without Z-signal homing
=3 Torque homing
=8 Immediate homing

Label Zero position H Valid mode(s) PR

Pr8.11 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600B
High bit of zero position；(Only valid using 485 communication)

Label Zero position (L) Valid mode(s) PR

Range -2147483648~ Default
Pr8.12 Unit p 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X600C
To set zero position.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.11.
 Label Home position offset H Valid mode(s) PR
Pr8.13 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600D
High bit of home position offset；(Only valid using 485 communication)
Label Home position offset (L) Valid mode(s) PR
Range -2147483648~ Default
Pr8.14 Unit p 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X600E
To set home position offset.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.13.
Label High homing velocity Valid mode(s) PR
Pr8.15 Range 1 ~ 6000 Unit rpm Default 200
Byte length 16bit Attribute R/W 485 address 0X600F
To set high homing velocity in PR mode.
Label Low homing velocity Valid mode(s) PR
Pr8.16 Range 1 ~ 6000 Unit rpm Default 50
Byte length 16bit Attribute R/W 485 address 0X6010
To set low homing velocity in PR mode.
Label Homing acceleration Valid mode(s) PR
Pr8.17 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6011
To set homing acceleration time in PR mode, time needed for 0rpm to accelerate to
1000rpm
Label Homing deceleration Valid mode(s) PR
Pr8.18 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6012
To set homing deceleration time in PR mode, time needed for 1000rpm to decelerate to
0rpm
Label Homing torque holding time Valid mode(s) PR
Pr8.19 Range 0 ~ 65535 Unit ms Default 100
Byte length 16bit Attribute R/W 485 address 0X6013
To set homing torque holding time
Label Homing torque Valid mode(s) PR
Pr8.20 Range 0 ~ 65535 Unit % Default 100
Byte length 16bit Attribute R/W 485 address 0X6014
To set homing torque

Label Homing overtravel alarm range Valid mode(s) PR

Pr8.21 Range 0 ~ 65535 Unit 0.1r Default 0
Byte length 16bit Attribute R/W 485 address 0X6015
To set homing overtravel alarm threshold.

Label Emergency stop at limit deceleration Valid mode(s) PR

Pr8.22 Range 1 ~ 32767 Unit ms/Krpm Default 10
Byte length 16bit Attribute R/W 485 address 0X6016
To set position limit emergency stop deceleration.
 Label STP emergency stop deceleration Valid mode(s) PR
Pr8.23 Range 1 ~ 32767 Unit ms/Krpm Default 50
Byte length 16bit Attribute R/W 485 address 0X6017
To set STP emergency stop deceleration.

Label I/O combination trigger mode Valid mode(s) PR

Pr8.26 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X601A
Value Description
【0】 Disable I/O combination trigger mode. Uses I/O CTRG signal edge trigger.
1 Enable I/O combination trigger. Valid when HOME-OK signal is valid.
2 Enable I/O combination trigger. HOME-OK signal not required.
IO combination trigger select path using ADD0~ADD3. Trigger mode is set in Pr8.26.

ADD3 ADD2 ADD1 ADD0 Path selection

OFF OFF OFF OFF Path 0 (Non-action)
OFF OFF OFF ON Path1
OFF OFF ON OFF Path2
OFF OFF ON ON Path3
OFF ON OFF OFF Path4
OFF ON OFF ON Path5
OFF ON ON OFF Path6
OFF ON ON ON Path7
ON OFF OFF OFF Path8
ON OFF OFF ON Path9
ON OFF ON OFF Path10
ON OFF ON ON Path11
ON ON OFF OFF Path12
ON ON OFF ON Path13
ON ON ON OFF Path14
ON ON ON ON Path15
Label I/O combination filter Valid mode(s) PR
Pr8.27 Range 0 ~ 65535 Unit ms Default 5
Byte length 16bit Attribute R/W 485 address 0X601B
To set I/O combination filter time.
 Label S-code current output value Valid mode(s) PR
Range 0 ~ 65535 Unit / Default 0
Pr8.28
Byte length 16bit Attribute R/W 485 address 0X601C

S-code（Status code）is the S-code of currently operating PR positioning data.

Every PR path has a S-code setting.
S-code Sx.H Sx.L
Bit 15 8-14 7 0-6
Description S-code valid when S-code upon S-code valid S-code upon
completed. completion upon activation activation
0: Invalid, retain 0: Invalid
previous value 1: Valid
1: Valid

Sequence diagram

PR1 Pause
PR2

t
Trigger

S-code S1.L S1.H S2.L S2.H

Valid upon enabling and completion of S1 and S2
S1.L S2.H
Valid when S1 enabled and S2 completed

S-code bit bit0/8 bit1/9 bit2/10 bit3/11 bit4/12 bit5/13 Bit6/14

SDx SD0 SD1 SD2 SD3 SD4 SD5 SD6

Label PR warning Valid mode(s) PR

Pr8.29 Range 0x0~0x20F Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X601D
Address Warning
0 Reset new command automatically
0x100 Position limit error during homing
0x101 Emergency stop. Homing not completed
0x102 Homing overtravel alarm
0x20x Position limit error on Path N

Label JOG velocity Valid mode(s) PR

Pr8.39 Range 0 ~ 65535 Unit rpm Default 100
Byte length 16bit Attribute R 485 address 0X6027
Set JOG velocity in PR mode.
Label JOG acceleration Valid mode(s) PR
Pr8.40 Range 0 ~ 65535 Unit ms/Krpm Default 100
Byte length 16bit Attribute R 485 address 0X6028
Set JOG acceleration in PR mode.
 Label JOG deceleration Valid mode(s) PR
Pr8.41 Range 0 ~ 65535 Unit ms/Krpm Default 100
Byte length 16bit Attribute R 485 address 0X6029
Set JOG deceleration in PR mode.

Label Command position H Valid mode(s) PR

Pr8.42 Range 0 ~ 65535 Unit / Default
Byte length 16bit Attribute R 485 address 0X602A
High bit of command position；(Only valid using 485 communication)
Label Command position（L） Valid mode(s) PR
Range -2147483648~ Default
Pr8.43 Unit p
2147483647
Byte length 32bit Attribute R 485 address 0X602B
To set PR-motion command position.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.42.
Label Motor position H Valid mode(s) PR
Pr8.44 Range 0~ 0xFFFF Unit / Default
Byte length 16bit Attribute R 485 address 0X602C
High bit of command position；(Only valid using 485 communication)
Label Motor position（L） Valid mode(s) PR
Range -2147483648~ Default
Pr8.45 Unit p
2147483647
Byte length 32bit Attribute R 485 address 0X602D
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.44.

Label Input I/O status Valid mode(s) PR

Pr8.46 Range 0 ~ 65535 Unit / Default
Byte length 16bit Attribute R 485 address 0X602E
Input I/O status, displays in decimal system. Convert to binary system to determine which bit
is valid.
Label Output I/O status Valid mode(s) PR
Pr8.47 Range 0 ~ 65535 Unit / Default
Byte length 16bit Attribute R 485 address 0X602F
Output I/O status, displays in decimal system. Convert to binary system to determine which
bit is valid.

Label Path 0 S-code Valid mode(s) PR

Pr8.48 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6030
Please refer to Pr8.28 for S-code setting.

Label Path 1 S-code Valid mode(s) PR

Pr8.49 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6031
Please refer to Pr8.28 for S-code setting.
 Label Path 2 S-code Valid mode(s) PR
Pr8.50 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6032
Please refer to Pr8.28 for S-code setting.

Label Path 3 S-code Valid mode(s) PR

Pr8.51 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6033
Please refer to Pr8.28 for S-code setting.

Label Path 4 S-code Valid mode(s) PR

Pr8.52 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6034
Please refer to Pr8.28 for S-code setting.

Label Path 5 S-code Valid mode(s) PR

Pr8.53 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6035
Please refer to Pr8.28 for S-code setting.

Label Path 6 S-code Valid mode(s) PR

Pr8.54 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6036
Please refer to Pr8.28 for S-code setting.

Label Path 7 S-code Valid mode(s) PR

Pr8.55 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6037
Please refer to Pr8.28 for S-code setting.

Label Path 8 S-code Valid mode(s) PR

Pr8.56 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6038
Please refer to Pr8.28 for S-code setting.

Label Path 9 S-code Valid mode(s) PR

Pr8.57 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6039
Please refer to Pr8.28 for S-code setting.

Label Path 10 S-code Valid mode(s) PR

Pr8.58 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603A
Please refer to Pr8.28 for S-code setting.

Label Path 11 S-code Valid mode(s) PR

Pr8.59 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603B
Please refer to Pr8.28 for S-code setting.
 Label Path 12 S-code Valid mode(s) PR
Pr8.60 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603C
Please refer to Pr8.28 for S-code setting.

Label Path 13 S-code Valid mode(s) PR

Pr8.61 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603D
Please refer to Pr8.28 for S-code setting.

Label Path 14 S-code Valid mode(s) PR

Pr8.62 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603E
Please refer to Pr8.28 for S-code setting.

Label Path 15 S-code Valid mode(s) PR

Pr8.63 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603F
Please refer to Pr8.28 for S-code setting.

[Class 9] PR control path parameters

It is more convenient to set Class 9 parameters on Motion Studio
Label PR0 mode Valid mode(s) PR
Pr9.00 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6200

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR0 position H Valid mode(s) PR

Pr9.01 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6201
High bit of Path 0 position；(Only valid using 485 communication)

Label PR0 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.02 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6202
For Path 0 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.02.
 Label PR0 velocity Valid mode(s) PR
Pr9.03 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6203
To set PR path 0 velocity.
Label PR0 acceleration time Valid mode(s) PR
Pr9.04 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6204
To set PR path 0 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR0 deceleration time Valid mode(s) PR
Pr9.05 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6205
To set PR path 0 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR0 pause time Valid mode(s) PR
Pr9.06 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6206
To set pause time for PR path 0 from completion to next path
Label PR0 special parameter Valid mode(s) PR
Pr9.07 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6207
Reserved

Label PR1 mode Valid mode(s) PR

Pr9.08 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6208

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR1 position H Valid mode(s) PR

Pr9.09 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6209
High bit of Path 1 position；(Only valid using 485 communication)
Label PR1 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.10 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X620A
For Path position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.09.
Label PR1 velocity Valid mode(s) PR
Pr9.11 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X620B
To set PR path 1 velocity.
 Label PR1 acceleration time Valid mode(s) PR
Pr9.12 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X620C
To set PR path 1 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR1 deceleration time Valid mode(s) PR
Pr9.13 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X620D
To set PR path 1 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR1 pause time Valid mode(s) PR
Pr9.14 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X620E
To set pause time for PR path 2 from completion to next path
Label PR1 special parameter Valid mode(s) PR
Pr9.15 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X620F
Reserved

Label PR2 mode Valid mode(s) PR

Pr9.16 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6210

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR2 position H Valid mode(s) PR

Pr9.17 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6211
High bit of Path 2 position；(Only valid using 485 communication)

Label PR2 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.18 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6212
For Path 2 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.17.

Label PR2 velocity Valid mode(s) PR

Pr9.19 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6213
To set PR path 2 velocity.
 Label PR2 acceleration time Valid mode(s) PR
Pr9.20 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6214
To set PR path 2 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR2 deceleration time Valid mode(s) PR
Pr9.21 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6215
To set PR path 2 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR2 pause time Valid mode(s) PR
Pr9.22 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6216
To set pause time for PR path 2 from completion to next path
Label PR2 special parameter Valid mode(s) PR
Pr9.23 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6217
Reserved

Label PR3 mode Valid mode(s) PR

Pr9.24 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6218

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR3 position H Valid mode(s) PR

Pr9.25 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6219
High bit of Path 3 position；(Only valid using 485 communication)
Label PR3 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.26 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X621A
For Path 3 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.25.
Label PR3 velocity Valid mode(s) PR
Pr9.27 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X621B
To set PR path 3 velocity.
Label PR3 acceleration time Valid mode(s) PR
Pr9.28 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X621C
To set PR path 3 acceleration time, time needed for 0rpm to accelerate to 1000rpm
 Label PR3 deceleration time Valid mode(s) PR
Pr9.29 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X621D
To set PR path 0 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR3 pause time Valid mode(s) PR
Pr9.30 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X621E
To set pause time for PR path 3 from completion to next path
Label PR3 special parameter Valid mode(s) PR
Pr9.31 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X621F
Reserved

Label PR4 mode Valid mode(s) PR

Pr9.32 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6220

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR4 position H Valid mode(s) PR

Pr9.33 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6221
High bit of Path 0 position；(Only valid using 485 communication)
Label PR4 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.34 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6222
For Path 4 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.33.
Label PR4 velocity Valid mode(s) PR
Pr9.35 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6223
To set PR path 4 velocity.
Label PR0 acceleration time Valid mode(s) PR
Pr9.36 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6224
To set PR path 4 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR4deceleration time Valid mode(s) PR
Pr9.37 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6225
To set PR path 4 deceleration time, time needed for 1000rpm to decelerate to 0rpm
 Label PR4 pause time Valid mode(s) PR
Pr9.38 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6226
To set pause time for PR path 4 from completion to next path
Label PR4 special parameter Valid mode(s) PR
Pr9.39 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6227
Reserved

Label PR5 mode Valid mode(s) PR

Pr9.40 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6228

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR5 position H Valid mode(s) PR

Pr9.41 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6229
High bit of Path 5 position；(Only valid using 485 communication)
Label PR5 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.42 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X622A
For Path 0 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.41.
Label PR5 velocity Valid mode(s) PR
Pr9.43 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X622B
To set PR path 5 velocity.
Label PR5 acceleration time Valid mode(s) PR
Pr9.44 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X622C
To set PR path 5 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR5 deceleration time Valid mode(s) PR
Pr9.45 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X622D
To set PR path 5 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR5 pause time Valid mode(s) PR
Pr9.46 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X622E
To set pause time for PR path 5 from completion to next path
 Label PR5 special parameter Valid mode(s) PR
Pr9.47 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X622F
Reserved

Label PR6 mode Valid mode(s) PR

Pr9.48 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6230

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR6 position H Valid mode(s) PR

Pr9.49 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6231
High bit of Path 6 position；(Only valid using 485 communication)
Label PR6 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.50 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6232
For Path 6 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.49.
Label PR6 velocity Valid mode(s) PR
Pr9.51 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6233
To set PR path 6 velocity.
Label PR6 acceleration time Valid mode(s) PR
Pr9.52 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6234
To set PR path 6 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR6 deceleration time Valid mode(s) PR
Pr9.53 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6235
To set PR path 6 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR6 pause time Valid mode(s) PR
Pr9.54 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6236
To set pause time for PR path 6 from completion to next path
Label PR6 special parameter Valid mode(s) PR
Pr9.55 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6237
Reserved
 Label PR7 mode Valid mode(s) PR
Pr9.56 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6238

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR7 position H Valid mode(s) PR

Pr9.57 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6239
High bit of Path 7 position；(Only valid using 485 communication)

Label PR7 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.58 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X623A
For Path 7 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.57.
Label PR7 velocity Valid mode(s) PR
Pr9.59 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X623B
To set PR path 7 velocity.
Label PR7 acceleration time Valid mode(s) PR
Pr9.60 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X623C
To set PR path 7 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR0 deceleration time Valid mode(s) PR
Pr9.61 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X623D
To set PR path 0 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR7 pause time Valid mode(s) PR
Pr9.62 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X623E
To set pause time for PR path 7 from completion to next path
Label PR7 special parameter Valid mode(s) PR
Pr9.63 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X623F
Reserved
 Label PR8 mode Valid mode(s) PR
Pr9.64 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6240

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR8 position H Valid mode(s) PR

Pr9.65 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6241
High bit of Path 0 position；(Only valid using 485 communication)

Label PR8 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.66 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6242
For Path 8 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.65.
Label PR8 velocity Valid mode(s) PR
Pr9.67 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6243
To set PR path 8 velocity.
Label PR8 acceleration time Valid mode(s) PR
Pr9.68 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6244
To set PR path 8 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR8 deceleration time Valid mode(s) PR
Pr9.69 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6245
To set PR path 8 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR8 pause time Valid mode(s) PR
Pr9.70 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6246
To set pause time for PR path 8 from completion to next path
Label PR8 special parameter Valid mode(s) PR
Pr9.71 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6247
Reserved
 Label PR9 mode Valid mode(s) PR
Pr9.72 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6248

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR9 position H Valid mode(s) PR

Pr9.73 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6249
High bit of Path 9 position；(Only valid using 485 communication)

Label PR9 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.74 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X624A
For Path 9 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.73.
Label PR0 velocity Valid mode(s) PR
Pr9.75 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X624B
To set PR path 0 velocity.
Label PR9 acceleration time Valid mode(s) PR
Pr9.76 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X624C
To set PR path 9 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR9 deceleration time Valid mode(s) PR
Pr9.77 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X624D
To set PR path 9 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR9 pause time Valid mode(s) PR
Pr9.78 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X624E
To set pause time for PR path 9 from completion to next path
Label PR9 special parameter Valid mode(s) PR
Pr9.79 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X624F
Reserved
 Label PR10 mode Valid mode(s) PR
Pr9.80 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6250

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR10 position H Valid mode(s) PR

Pr9.81 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6251
High bit of Path10 position；(Only valid using 485 communication)

Label PR10 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.82 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6252
For Path 10 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.81.
Label PR10 velocity Valid mode(s) PR
Pr9.83 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6253
To set PR path 10 velocity.
Label PR10 acceleration time Valid mode(s) PR
Pr9.84 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6254
To set PR path 10 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR10 deceleration time Valid mode(s) PR
Pr9.85 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6255
To set PR path 10 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR10 pause time Valid mode(s) PR
Pr9.86 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6256
To set pause time for PR path 10 from completion to next path
Label PR10 special parameter Valid mode(s) PR
Pr9.87 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6257
Reserved
 Label PR11 mode Valid mode(s) PR
Pr9.88 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6258

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR11 position H Valid mode(s) PR

Pr9.89 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6259
High bit of Path 11 position；(Only valid using 485 communication)

Label PR11 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.90 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X625A
For Path 11 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.89.
Label PR11 velocity Valid mode(s) PR
Pr9.91 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X625B
To set PR path 11 velocity.
Label PR11 acceleration time Valid mode(s) PR
Pr9.92 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X625C
To set PR path 11 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR11 deceleration time Valid mode(s) PR
Pr9.93 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X625D
To set PR path 11 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR11 pause time Valid mode(s) PR
Pr9.94 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X625E
To set pause time for PR path 11 from completion to next path
Label PR11 special parameter Valid mode(s) PR
Pr9.95 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X625F
Reserved
 Label PR12 mode Valid mode(s) PR
Pr9.96 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6260

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR12 position H Valid mode(s) PR

Pr9.97 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6261
High bit of Path 12 position；(Only valid using 485 communication)

Label PR12 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.98 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6262
For Path 12 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.97.
Label PR12 velocity Valid mode(s) PR
Pr9.99 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6263
To set PR path 12 velocity.
Label PR12 acceleration time Valid mode(s) PR
Pr9.100 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6264
To set PR path 12 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR12 deceleration time Valid mode(s) PR
Pr9.101 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6265
To set PR path 12 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR12 pause time Valid mode(s) PR
Pr9.102 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6266
To set pause time for PR path 12 from completion to next path
Label PR12 special parameter Valid mode(s) PR
Pr9.103 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6267
Reserved
 Label PR13 mode Valid mode(s) PR
Pr9.104 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6268

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR13 position H Valid mode(s) PR

Pr9.105 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6269
High bit of Path 13 position；(Only valid using 485 communication)

Label PR13 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.106 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X626A
For Path 13 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.105.
Label PR13 velocity Valid mode(s) PR
Pr9.107 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X626B
To set PR path 13 velocity.
Label PR13 acceleration time Valid mode(s) PR
Pr9.108 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X626C
To set PR path 13 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR13 deceleration time Valid mode(s) PR
Pr9.109 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X626D
To set PR path 13 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR13 pause time Valid mode(s) PR
Pr9.110 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X626E
To set pause time for PR path 13 from completion to next path
Label PR13 special parameter Valid mode(s) PR
Pr9.111 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X626F
Reserved
 Label PR14 mode Valid mode(s) PR
Pr9.112 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6270

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR14 position H Valid mode(s) PR

Pr9.113 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6271
High bit of Path 14 position；(Only valid using 485 communication)

Label PR14 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.114 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6272
For Path 14 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.113.
Label PR14 velocity Valid mode(s) PR
Pr9.115 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6273
To set PR path 14 velocity.
Label PR14 acceleration time Valid mode(s) PR
Pr9.116 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6274
To set PR path 14 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR14 deceleration time Valid mode(s) PR
Pr9.117 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6275
To set PR path 14 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR14 pause time Valid mode(s) PR
Pr9.118 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6276
To set pause time for PR path 14 from completion to next path
Label PR14 special parameter Valid mode(s) PR
Pr9.119 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6277
Reserved
 Label PR15 mode Valid mode(s) PR
Pr9.120 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6278

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No skip, 0-15: 0: absolute 0: No 0: Can be 0: null
indicates Skip to 1: correspond overlap, plugged in 1: Positioning
with END correspond command indicates 1: Can’t be 2: Velocity
1: Skip. path 2: correspond with SJ plugged in, motion
Skip to SJ motor 1 Overlap, indicates 3: Homing
or CJ indicated using ! 4: Emergency
with CJ stop
Indicates using
P/V/H/S

Label PR15 position H Valid mode(s) PR

Pr9.121 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6279
High bit of Path 15 position；(Only valid using 485 communication)

Label PR15 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.122 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X627A
For Path 15 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.121.
Label PR15 velocity Valid mode(s) PR
Pr9.123 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X627B
To set PR path 15 velocity.
Label PR15 acceleration time Valid mode(s) PR
Pr9.124 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X627C
To set PR path 15 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR15 deceleration time Valid mode(s) PR
Pr9.125 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X627D
To set PR path 15 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR15 pause time Valid mode(s) PR
Pr9.126 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X627E
To set pause time for PR path 15 from completion to next path
Label PR15 special parameter Valid mode(s) PR
Pr9.127 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X627F
Reserved