<?xml version="1.0" encoding="utf-8"?>
<!--This is FunctionCode Struct-->
<root> 
	<ServoSet>
		
		<Alarm>
			 <FaultRecordMaxNum Num="D01.11" InputType="1" Min="0" Max="9" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="2" Effect="2" MotorPar="0" Show="1" Chinese="故障记录最大次数" English="Fault Code Record Max Number"  />

	        <FaultRecordSelect Num="D01.00" InputType="0" Min="0" Max="9" Default="" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="2" MotorPar="0" Show="1" Chinese="故障选择" English="Fault Code Select"/>
           
           <FaultCode Num="D01.01" InputType="0" Min="0x0000" Max="0xFFFF" Default="" Accuracy="1" ShowLength="" Unit="" Bit="16" Format="1" Symbol="0" RW="2" Effect="2" MotorPar="0" Show="1" Chinese="所选次数故障代码" English="Fault Code of select"/>

		</Alarm>

		<Run>
			<JogSpdSet Num="F0E.03" InputType="0" Min="0" Max="F00.01" Default="100" Accuracy="0" ShowLength="" Unit="rpm" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="点动速度" English="Jog speed"/>
	   </Run>
		
		<GeneralSet>
             <ServoEnableMode Num="F00.03" InputType="1" Min="0" Max="3" Default="1" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="使能模式" English="Model Enable" />

             <MaxSpeed Num="F00.01" InputType="0" Min="1000" Max="6000" Default="3000" Accuracy="0" ShowLength="" Unit="rpm" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="最大转速" English="Maximum Speed"/>

             <MaxTorque Num="F00.02" InputType="0" Min="100.0" Max="350.0" Default="300.0" Accuracy="1" ShowLength="" Unit="%" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="最大转矩" English="Maximum Torque"/>
			
			 <RotateDir Num="F00.04" InputType="1" Min="0" Max="1" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="1" MotorPar="0" Show="1" Chinese="旋转方向选择" English="Direction of rotation" />
		 </GeneralSet>
	
		<CmdSource>
			 <PosCmdSrc Num="F06.00" InputType="1" Min="0" Max="1" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="位置指令来源" English="Location command source" />

			 <ExPulCmdForm Num="F06.01" InputType="1" Min="0" Max="3" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="外部脉冲指令形态" English="External pulse command form" />		
		</CmdSource>

        <!--电流环功能-->
		<CurrentLoop>
             <Kp Num="F04.30" InputType="0" Min="0.000" Max="5.000" Default="1.000" Accuracy="3" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="1" Show="1" Chinese="电流环d轴KP增益1" English="Current loop KP" />

             <Ki Num="F04.31" InputType="0" Min="0.00" Max="5.00" Default="1.00" Accuracy="2" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="1" Show="1" Chinese="电流环d轴KI增益1" English="Current loop integral time constant"/>

		</CurrentLoop>

		<Filter>
			
			  <InFilterTime Num="F06.02" InputType="0" Min="0" Max="2000" Default="0" Accuracy="0" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="1" Effect="0" MotorPar="0" Show="1" Chinese="位置指令惯性滤波时间" English="Position command inertia filtering time"/>

			  <SmFilterTime Num="F06.03" InputType="0" Min="0.0" Max="50.0" Default="0.0" Accuracy="0" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="1" Effect="0" MotorPar="0" Show="1" Chinese="位置指令平滑滤波时间" English="Position command smoothing filter time"/>

			  <TAcc Num="F07.04" InputType="0" Min="0" Max="60000" Default="0" Accuracy="0" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度指令加速时间" English="Speed ​​command acceleration time"/>
    
			  <TDec Num="F07.05" InputType="0" Min="0" Max="60000" Default="0" Accuracy="0" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度指令减速时间" English="Speed ​​command deceleration time"/>

			  <TSL Num="F07.06" InputType="0" Min="0" Max="1000" Default="0" Accuracy="0" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度指令加减速平滑常数" English="Speed ​​command acceleration/deceleration smoothing constant"/>

			  <CurveChoose Num="F07.03" InputType="1" Min="0" Max="1" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="1" Effect="0" MotorPar="0" Show="1" Chinese="速度指令加减速方式" English="Speed ​​command acceleration and deceleration"/>
		</Filter>

		<Gear>
			 <GearRatioM1 Num="F06.08" InputType="0" Min="1" Max="1073741824" Default="1" Accuracy="0" ShowLength="" Unit="" Bit="32" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="电子齿轮比分子1" English="Electronic gear ratio molecule 1"/>

			 <GearRatioD1 Num="F06.10" InputType="0" Min="1" Max="1073741824" Default="1" Accuracy="0" ShowLength="" Unit="" Bit="32" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="电子齿轮比分母1" English="Electronic gear ratio denominator 1"/>

           <GearRatioM2 Num="F06.12" InputType="0" Min="1" Max="1073741824" Default="1" Accuracy="0" ShowLength="" Unit="" Bit="32" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="电子齿轮比分子2" English="Electronic gear ratio molecule 2"/>


           <GearRatioD2 Num="F06.14" InputType="0" Min="1" Max="1073741824" Default="1" Accuracy="0" ShowLength="" Unit="" Bit="32" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="电子齿轮比分母2" English="Electronic gear ratio denominator 2"/>

           <SwitchCondition Num="F06.16" InputType="1" Min="0" Max="1" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="1" Effect="0" MotorPar="0" Show="1" Chinese="电子齿轮比切换条件" English="Electronic gear ratio switching condition"/>

            <FeedPulseNum Num="F06.06" InputType="0" Min="0" Max="262143" Default="2500" Accuracy="0" ShowLength="" Unit="" Bit="32" Format="0" Symbol="0" RW="0" Effect="1" MotorPar="0" Show="1" Chinese="编码器分频输出每转脉冲数" English="Frequency division outputs the number of pulses per revolution"/>

			 <SetPulseNum Num="F06.04" InputType="0" Min="0" Max="1073741824" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="32" Format="0" Symbol="0" RW="1" Effect="1" MotorPar="0" Show="1" Chinese="设定每圈脉冲数" English="Set the number of pulses per revolution low" />
	<DIalloc />
		</Gear>
        
        <!--陷波器功能，暂时没有用上20220422-->
		<Notch>

			<ThresholdSet Name="F05.09" Max="9999" Min="1" Attribute="0x20a0" AbsoluteValue="0" Chinese="陷波器阈值设定" English="Notch threshold setting" />
			<FuncSel Name="F05.10" Max="3" Min="0" Attribute="0x2048" AbsoluteValue="0" Chinese="陷波器功能选择" English="Notch function select" />
			<Freq1 Name="F05.11" Max="2000" Min="50" Attribute="0x2160" AbsoluteValue="0" Chinese="第一组陷波器中心频率" English="1st center frequency" />
			<Depth1 Name="F05.12" Max="1000" Min="1" Attribute="0x2060" AbsoluteValue="0" Chinese="第一组陷波器陷波深度" English="1st depth" />
			<Width1 Name="F05.13" Max="100" Min="1" Attribute="0x2058" AbsoluteValue="0" Chinese="第一组陷波器陷波宽度" English="1st width" />
			<Freq2 Name="F05.14" Max="2000" Min="50" Attribute="0x2160" AbsoluteValue="0" Chinese="第二组陷波器中心频率" English="2nd center frequency" />
			<Depth2 Name="F05.15" Max="1000" Min="1" Attribute="0x2060" AbsoluteValue="0" Chinese="第二组陷波器陷波深度" English="2nd depth" />
			<Width2 Name="F05.16" Max="100" Min="1" Attribute="0x2058" AbsoluteValue="0" Chinese="第二组陷波器陷波宽度" English="2nd width" />
		</Notch>

        <!--位置环功能-->
		<PositionLoop>
			
            <Kp1 Num="F04.20" InputType="0" Min="0.0" Max="100.0" Default="40.0" Accuracy="1" ShowLength="" Unit="rad/s" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="位置环KP1" English="Position loop KP1"/>

            <Kp2 Num="F04.21" InputType="0" Min="0.0" Max="100.0" Default="40.0" Accuracy="1" ShowLength="" Unit="rad/s" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="位置环KP2" English="Position loop KP2"/>

			<Gain Num="F04.25" InputType="0" Min="0" Max="100" Default="0" Accuracy="0" ShowLength="" Unit="%" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="位置环前馈增益" English="Position ​​loop feed forward gain"/>

			 <FilterTime Num="F04.26" InputType="0" Min="0.0" Max="50.0" Default="0.0" Accuracy="1" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="位置环前馈滤波时间" English="Position ​​feedforward filtering time"/>

		</PositionLoop>

        <!--速度环功能-->
		<SpeedLoop>

			<Kp1 Num="F04.00" InputType="0" Min="0.1" Max="300.0" Default="25.0" Accuracy="1" ShowLength="" Unit="Hz" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度环KP1" English="Speed ​​loop KP1" />
           
           <Ki1 Num="F04.01" InputType="0" Min="0.01" Max="100.00" Default="32.00" Accuracy="2" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度环Ti1" English="Speed ​​loop KI1"/>
       
           <Kp2 Num="F04.02" InputType="0" Min="0.1" Max="300.0" Default="40.0" Accuracy="1" ShowLength="" Unit="Hz" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度环KP2" English="Speed ​​loop KP2"/>

           <Ki2 Num="F04.03" InputType="0" Min="0.01" Max="100.00" Default="20.00" Accuracy="2" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度环Ti2" English="Speed ​​loop KI2" />
    

           <Gain Num="F04.10" InputType="0" Min="0.0" Max="100.0" Default="0.0" Accuracy="1" ShowLength="" Unit="%" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="转矩前馈增益" English="Torque feed forward gain"/>

           <FilterTime Num="F04.11" InputType="0" Min="0.0" Max="50.0" Default="0.0" Accuracy="1" ShowLength="" Unit="ms" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="转矩前馈滤波时间" English="Torque feed forward filtering time" />

          <SwitchCondition Num="F04.06" InputType="1" Min="0" Max="2" Default="0" Accuracy="0" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="速度环参数切换条件" English="Speed ​​loop parameter switching condition" />

          <LoadRatio Num="F05.02" InputType="0" Min="0.00" Max="80.00" Default="1.00" Accuracy="2" ShowLength="" Unit="" Bit="16" Format="0" Symbol="0" RW="0" Effect="0" MotorPar="0" Show="1" Chinese="负载惯量比" English="Load inertia ratio" />
		</SpeedLoop>

	</ServoSet>
</root>