<?xml version="1.0" encoding="utf-8"?>
<FuncGroup UniqueId="0" Model="HS30" Version="1.0.0.0" StanderType="1" ModifyTime="2022/2/26">
  <F00 Name="BasicControl" Remark="">
    <F00.00 Name="Control mode" Remark="">
      <FunCodeOption InputType="1" Name="0: Position mode " />
      <FunCodeOption InputType="1" Name="1: Speed control " />
      <FunCodeOption InputType="1" Name="2: Torque control " />
      <FunCodeOption InputType="1" Name="3: Position-speed control mode " />
      <FunCodeOption InputType="1" Name="4: Position-torque control mode " />
      <FunCodeOption InputType="1" Name="5: Speed-torque control mode " />
      <FunCodeOption InputType="1" Name="6: Position-speed-torque control mode" />
    </F00.00>
    <F00.01 Name="Max. speed" Remark="" />
    <F00.02 Name="Max. torque" Remark="" />
    <F00.03 Name="Enable mode" Remark="">
      <FunCodeOption InputType="1" Name="0: Keyboard enable " />
      <FunCodeOption InputType="1" Name="1:IO/SON terminal enable" />
      <FunCodeOption InputType="1" Name="2:Host computer enable" />
      <FunCodeOption InputType="1" Name="3: Software enable" />
    </F00.03>
    <F00.04 Name="Rotation direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Take the CCW direction as the forward rotation direction " />
      <FunCodeOption InputType="1" Name="1: Take the CW direction as the forward rotation direction" />
    </F00.04>
    <F00.05 Name="Frequency division output pulse source" Remark="">
      <FunCodeOption InputType="1" Name="0: Encoder position information " />
      <FunCodeOption InputType="1" Name="1: Pulse command " />
      <FunCodeOption InputType="1" Name="2: Disable frequency division output" />
    </F00.05>
    <F00.06 Name="Frequency division output pulse phase" Remark="">
      <FunCodeOption InputType="1" Name="0: Phase A leads phase B " />
      <FunCodeOption InputType="1" Name="1: Phase B leads phase A" />
    </F00.06>
    <F00.07 Name="Z signal output polarity" Remark="">
      <FunCodeOption InputType="1" Name="0:Negative polarity, low-level instantaneous signal" />
      <FunCodeOption InputType="1" Name="1: Positive polarity, high-level instantaneous signal" />
    </F00.07>
    <F00.08 Name="Drive initial monitoring status display" Remark="" />
    <F00.09 Name="Servo OFF stop mode" Remark="">
      <FunCodeOption InputType="1" Name="0: Coast to stop, keep free running state 1: Zero speed stop, keep free running state " />
      <FunCodeOption InputType="1" Name="2: Emergency torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="3: Ramp stop, keep free running state " />
      <FunCodeOption InputType="1" Name="4: Slope rate, then ramp torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="5: DB stops, keep free running state" />
    </F00.09>
    <F00.10 Name="Fault stop mode setting enable" Remark="">
      <FunCodeOption InputType="1" Name="0:Default coast to stop" />
      <FunCodeOption InputType="1" Name="1: Group F0F sets" />
    </F00.10>
    <F00.11 Name="Type 1 fault stop mode" Remark="">
      <FunCodeOption InputType="1" Name="0:Coast to stop, keep free running state" />
      <FunCodeOption InputType="1" Name="1:Zero speed stop, keep free running state" />
      <FunCodeOption InputType="1" Name="2: Emergency torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="3: Ramp stop, keep free running state " />
      <FunCodeOption InputType="1" Name="4: Slope speed ramp torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="5: DB stops, keep free running state" />
    </F00.11>
    <F00.12 Name="Type 2 fault stop mode" Remark="">
      <FunCodeOption InputType="1" Name="0:Coast to stop, keep free running state" />
      <FunCodeOption InputType="1" Name="1:Zero speed stop, keep free running state" />
      <FunCodeOption InputType="1" Name="2: Emergency torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="3: Ramp stop, keep free running state " />
      <FunCodeOption InputType="1" Name="4: Slope speed ramp torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="5: DB stops, keep free running state" />
    </F00.12>
    <F00.13 Name="Servo overtravel stop mode" Remark="">
      <FunCodeOption InputType="1" Name="0:Coast to stop, keep free running state" />
      <FunCodeOption InputType="1" Name="1:Zero speed stop, keep free running state" />
      <FunCodeOption InputType="1" Name="2: Emergency torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="3: Ramp stop, keep free running state " />
      <FunCodeOption InputType="1" Name="4: Slope speed ramp torque stop, keep free running state " />
      <FunCodeOption InputType="1" Name="5: DB stops, keep free running state" />
    </F00.13>
    <F00.14 Name="Servo alarm stop mode selection" Remark="">
      <FunCodeOption InputType="1" Name="0:Coast to stop, keep free running state" />
      <FunCodeOption InputType="1" Name="1:Zero speed stop, keep free running state" />
      <FunCodeOption InputType="1" Name="2: Emergency torque stop, keep free running state " />
    </F00.14>
    <F00.15 Name="Feedback current gain ratio during DB braking" Remark="" />
    <F00.16 Name="Bus voltage gain ratio during DB braking" Remark="" />
    <F00.18 Name="Dec. time for ramp stop" Remark="" />
    <F00.19 Name="Ramp torque stop Dec. time" Remark="" />
    <F00.20 Name="Stop mode and stop state switching speed" Remark="" />
    <F00.21 Name="Servo enable ON to brake output ON delay time" Remark="" />
    <F00.22 Name="Delay from brake output ON to command receiving" Remark="" />
    <F00.23 Name="Prohibited state, the delay time from the brake output OFF to the motor is not powered on" Remark="" />
    <F00.24 Name="In rotation state, speed threshold when brake output is OFF" Remark="" />
    <F00.25 Name="In rotation state, the delay from servo enable OFF to brake output OFF" Remark="" />
    <F00.30 Name="Absolute position detection system" Remark="">
      <FunCodeOption InputType="1" Name="0:Incremental mode" />
      <FunCodeOption InputType="1" Name="1:Absolute position pulse mode" />
      <FunCodeOption InputType="1" Name="2:Absolute position rotation mode" />
    </F00.30>
  </F00>
  <F01 Name="MotorParameters" Remark="">
    <F01.00 Name="Bus motor code" Remark="" />
    <F01.01 Name="Motor rated power" Remark="" />
    <F01.02 Name="Motor rated voltage" Remark="" />
    <F01.03 Name="Motor rated current" Remark="" />
    <F01.04 Name="Motor maximum current" Remark="" />
    <F01.05 Name="Motor rated torque" Remark="" />
    <F01.06 Name="Motor maximum torque" Remark="" />
    <F01.07 Name="Motor rated speed" Remark="" />
    <F01.08 Name="Motor maximum speed" Remark="" />
    <F01.09 Name="Motor pole pairs" Remark="" />
    <F01.10 Name="Stator resistance" Remark="" />
    <F01.11 Name="Quadrature axis inductance" Remark="" />
    <F01.12 Name="Direct axis inductance" Remark="" />
    <F01.13 Name="Back EMF constant" Remark="" />
    <F01.14 Name="Torque factor" Remark="" />
    <F01.15 Name="Electrical constant" Remark="" />
    <F01.16 Name="Mechanical constant" Remark="" />
    <F01.17 Name="Motor rotor moment of inertia" Remark="" />
    <F01.18 Name="Electrical angle corresponding to Z signal" Remark="" />
    <F01.20 Name="Encoder installation offset position" Remark="" />
    <F01.27 Name="Motor UVW phase sequence recognition enable" Remark="">
      <FunCodeOption InputType="1" Name="0:Disable" />
      <FunCodeOption InputType="1" Name="1:Enable" />
    </F01.27>
    <F01.30 Name="Encoder type" Remark="">
      <FunCodeOption InputType="1" Name=" 0: Incremental type " />
      <FunCodeOption InputType="1" Name=" 1: 17Bit serial incremental " />
      <FunCodeOption InputType="1" Name=" 2: Wire-saving encoder " />
      <FunCodeOption InputType="1" Name=" 3: 17Bit absolute encoder " />
      <FunCodeOption InputType="1" Name=" 4: 19Bit absolute encoder " />
      <FunCodeOption InputType="1" Name=" 5: 20Bit absolute encoder " />
      <FunCodeOption InputType="1" Name=" 6: 23Bit absolute encoder " />
      <FunCodeOption InputType="1" Name=" 7: 24Bit absolute encoder" />
    </F01.30>
    <F01.31 Name="Encoder resolution" Remark="" />
    <F01.35 Name="Encoder single-turn/multi-turn type" Remark="">
      <FunCodeOption InputType="1" Name="0:Single-turn encoder" />
      <FunCodeOption InputType="1" Name="1:Multi-turn encoder" />
    </F01.35>
    <F01.37 Name="Prohibits reading the encoder ROM at power-up" Remark="">
      <FunCodeOption InputType="1" Name="0:Enable power-on to read ROM" />
      <FunCodeOption InputType="1" Name="1:Disable power-on to read ROM" />
    </F01.37>
    <F01.39 Name="Multi-turn absolute encoder position at power down (low 32 bit)" Remark="" />
    <F01.41 Name="Multi-turn absolute encoder position at power down (high 32 bit)" Remark="" />
  </F01>
  <F02 Name="InputTerminal" Remark="">
    <F02.00 Name="DI1 function" Remark="" />
    <F02.01 Name="DI2 function" Remark="" />
    <F02.02 Name="DI3 function" Remark="" />
    <F02.03 Name="DI4 function" Remark="" />
    <F02.04 Name="DI5 function" Remark="" />
    <F02.05 Name="DI6 function" Remark="" />
    <F02.06 Name="DI7 function" Remark="" />
    <F02.07 Name="Power-up valid DI function assignment (low 16 bit)" Remark="" />
    <F02.08 Name="Power-up valid DI function assignment (high 16 bit)" Remark="" />
    <F02.10 Name="DI1 filter time" Remark="" />
    <F02.11 Name="DI2 filter time" Remark="" />
    <F02.12 Name="DI3 filter time" Remark="" />
    <F02.13 Name="DI4 filter time" Remark="" />
    <F02.14 Name="DI5 filter time" Remark="" />
    <F02.15 Name="DI6 filter time" Remark="" />
    <F02.16 Name="DI7 filter time" Remark="" />
    <F02.17 Name="Servo ON signal filter time" Remark="" />
    <F02.20 Name="AI1 gain" Remark="" />
    <F02.21 Name="AI1 bias" Remark="" />
    <F02.22 Name="AI1 filter time" Remark="" />
    <F02.23 Name="AI1 dead zone" Remark="" />
    <F02.24 Name="AI1 zero drift" Remark="" />
    <F02.25 Name="AI2 gain" Remark="" />
    <F02.26 Name="AI2 bias" Remark="" />
    <F02.27 Name="AI2 filter time" Remark="" />
    <F02.28 Name="AI2 dead zone" Remark="" />
    <F02.29 Name="AI2 zero drift" Remark="" />
    <F02.30 Name="DI1 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.30>
    <F02.31 Name="DI2 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.31>
    <F02.32 Name="DI3 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.32>
    <F02.33 Name="DI4 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.33>
    <F02.34 Name="DI5 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.34>
    <F02.35 Name="DI6 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.35>
    <F02.36 Name="DI7 logic" Remark="">
      <FunCodeOption InputType="1" Name="0: Low level is valid " />
      <FunCodeOption InputType="1" Name="1:High level is valid" />
      <FunCodeOption InputType="1" Name="2:The rising edge is valid" />
      <FunCodeOption InputType="1" Name="3:The falling edge is valid" />
      <FunCodeOption InputType="1" Name="4: The rising edge and falling edges are valid" />
    </F02.36>
  </F02>
  <F03 Name="OutputTerminal" Remark="">
    <F03.00 Name="DO1 function" Remark="" />
    <F03.01 Name="DO2 function" Remark="" />
    <F03.02 Name="DO3 function" Remark="" />
    <F03.03 Name="DO4 function" Remark="" />
    <F03.04 Name="DO5 function" Remark="" />
    <F03.05 Name="DO6 function" Remark="" />
    <F03.06 Name="DO source" Remark="" />
    <F03.10 Name="DO1 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive logic" />
      <FunCodeOption InputType="1" Name="1:Negative logic" />
    </F03.10>
    <F03.11 Name="DO2 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive logic" />
      <FunCodeOption InputType="1" Name="1:Negative logic" />
    </F03.11>
    <F03.12 Name="DO3 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive logic" />
      <FunCodeOption InputType="1" Name="1:Negative logic" />
    </F03.12>
    <F03.13 Name="DO4 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive logic" />
      <FunCodeOption InputType="1" Name="1:Negative logic" />
    </F03.13>
    <F03.14 Name="DO5 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive logic" />
      <FunCodeOption InputType="1" Name="1:Negative logic" />
    </F03.14>
    <F03.15 Name="DO6 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive logic" />
      <FunCodeOption InputType="1" Name="1:Negative logic" />
    </F03.15>
    <F03.20 Name="AO1 function" Remark="">
      <FunCodeOption InputType="1" Name="0:Meaningless" />
      <FunCodeOption InputType="1" Name="1:Actual motor speed, 10V corresponds to the Max.  speed (F00.01)" />
      <FunCodeOption InputType="1" Name="2:Speed command, 10V corresponds to the Max.  speed (F00.01)" />
      <FunCodeOption InputType="1" Name="3:Torque command, 10V corresponds to the Max. torque (F00.02)" />
      <FunCodeOption InputType="1" Name="4:Position deviation, 0.05V corresponds to the position deviation of 1 command unit" />
      <FunCodeOption InputType="1" Name="5: Position command speed, 10V corresponds to the maximum speed (F00.01) " />
      <FunCodeOption InputType="1" Name="6: AI1 voltage (after processing, absolute value) " />
      <FunCodeOption InputType="1" Name="7: AI2 voltage (after processing, absolute value) )" />
    </F03.20>
    <F03.21 Name="AO2 function" Remark="">
      <FunCodeOption InputType="1" Name="0:Meaningless" />
      <FunCodeOption InputType="1" Name="1:Actual motor speed, 10V corresponds to the Max.  speed (F00.01)" />
      <FunCodeOption InputType="1" Name="2:Speed command, 10V corresponds to the Max.  speed (F00.01)" />
      <FunCodeOption InputType="1" Name="3:Torque command, 10V corresponds to the Max. torque (F00.02)" />
      <FunCodeOption InputType="1" Name="4:Position deviation, 0.05V corresponds to the position deviation of 1 command unit" />
      <FunCodeOption InputType="1" Name="5: Position command speed, 10V corresponds to the maximum speed (F00.01) " />
      <FunCodeOption InputType="1" Name="6: AI1 voltage (after processing, absolute value) " />
      <FunCodeOption InputType="1" Name="7: AI2 voltage (after processing, absolute value) )" />
    </F03.21>
    <F03.22 Name="AO1 gain" Remark="" />
    <F03.23 Name="AO2 gain" Remark="" />
    <F03.24 Name="AO1 bias" Remark="" />
    <F03.25 Name="AO2 bias" Remark="" />
  </F03>
  <F04 Name="LoopParameters" Remark="">
    <F04.00 Name="Speed loop KP1" Remark="" />
    <F04.01 Name="Speed loop Ti1" Remark="" />
    <F04.02 Name="Speed loop KP2" Remark="" />
    <F04.03 Name="Speed loop Ti2" Remark="" />
    <F04.06 Name="Switching conditions of position and speed loop parameters" Remark="">
      <FunCodeOption InputType="1" Name=" 0: Fixed the group1 parameters " />
      <FunCodeOption InputType="1" Name=" 1: DI terminal switching " />
      <FunCodeOption InputType="1" Name=" 2: Speed command " />
      <FunCodeOption InputType="1" Name=" 3: Position deviation " />
      <FunCodeOption InputType="1" Name=" 4: Positioning completed " />
      <FunCodeOption InputType="1" Name=" 5: Actual speed " />
      <FunCodeOption InputType="1" Name=" 6: Position command + actual speed" />
    </F04.06>
    <F04.07 Name="Gain switching delay time" Remark="" />
    <F04.08 Name="Gain switching level" Remark="" />
    <F04.09 Name="Gain switching time lag" Remark="" />
    <F04.10 Name="Torque feedforward gain" Remark="" />
    <F04.11 Name="Torque feedforward filter time" Remark="" />
    <F04.20 Name="Position loop KP1" Remark="" />
    <F04.21 Name="Position loop KP2" Remark="" />
    <F04.24 Name="Speed feedforward signal source" Remark="">
      <FunCodeOption InputType="1" Name="0:No speed feedforward" />
      <FunCodeOption InputType="1" Name="1:Internal speed feedforward" />
    </F04.24>
    <F04.25 Name="Speed feedforward gain" Remark="" />
    <F04.26 Name="Speed feedforward filter time" Remark="" />
    <F04.30 Name="Current loop d-axis KP gain 1" Remark="" />
    <F04.31 Name="Current loop d-axis KI gain 1" Remark="" />
    <F04.32 Name="Current loop q-axis KP gain 1" Remark="" />
    <F04.33 Name="Current loop q-axis KI gain 1" Remark="" />
    <F04.34 Name="Torque command filter time constant 1" Remark="" />
    <F04.35 Name="Torque command filter time constant 2" Remark="" />
    <F04.39 Name="Current loop d-axis KP gain 2" Remark="" />
    <F04.40 Name="Current loop d-axis KI gain 2" Remark="" />
    <F04.41 Name="Current loop q-axis KP gain 2" Remark="" />
    <F04.42 Name="Current loop q-axis KI gain 2" Remark="" />
    <F04.48 Name="d-axis voltage decoupling scale factor" Remark="" />
    <F04.49 Name="q-axis voltage decoupling scale factor" Remark="" />
  </F04>
  <F05 Name="Auto-tunningParameters" Remark="">
    <F05.02 Name="Load inertia ratio" Remark="" />
  </F05>
  <F06 Name="PositionControl" Remark="">
    <F06.00 Name="Position command source" Remark="">
      <FunCodeOption InputType="1" Name=" 0: External pulse command " />
      <FunCodeOption InputType="1" Name="1: Internal multi-position command" />
    </F06.00>
    <F06.01 Name="External pulse command form" Remark="">
      <FunCodeOption InputType="1" Name=" 0: Direction + pulse (positive logic) " />
      <FunCodeOption InputType="1" Name=" 1: Direction + pulse (negative logic) " />
      <FunCodeOption InputType="1" Name=" 2: Phase A + phase B quadrature pulse (4 times frequency) " />
      <FunCodeOption InputType="1" Name="3: CW + CCW pulse" />
    </F06.01>
    <F06.02 Name="Position command inertia filter time" Remark="" />
    <F06.03 Name="Position command smoothing filter time" Remark="" />
    <F06.04 Name="Set the number of pulses per revolution" Remark="" />
    <F06.06 Name="Encoder frequency division output pulses per revolution (before 4 times frequency)" Remark="" />
    <F06.08 Name="Electronic gear ratio numerator 1" Remark="" />
    <F06.10 Name="Electronic gear ratio denominator 1" Remark="" />
    <F06.12 Name="Electronic gear ratio numerator 2" Remark="" />
    <F06.14 Name="Electronic gear ratio denominator 2" Remark="" />
    <F06.16 Name="Electronic gear ratio switching conditions" Remark="">
      <FunCodeOption InputType="1" Name=" 0: According to the state of the DI terminal (23#), the number of position commands is 0, and it switches after 2ms. " />
      <FunCodeOption InputType="1" Name="1: According to the state of the DI terminal (23#), it switches in real time." />
    </F06.16>
    <F06.17 Name="Position deviation clear" Remark="">
      <FunCodeOption InputType="1" Name=" 0: Servo enable OFF and clear position deviation when fault occurs 1: Clear deviation only when fault occurs 2: Clear terminal" />
    </F06.17>
    <F06.18 Name="Position deviation threshold" Remark="" />
    <F06.20 Name="Positioning complete/approach output condition" Remark="">
      <FunCodeOption InputType="1" Name="0:Output when the absolute value of position deviation &lt; completion/approach threshold (F06.21/F06.22)" />
      <FunCodeOption InputType="1" Name="1:Output when the absolute value of position deviation &lt; completion/approach threshold (F06.21/F06.22) after the command ends" />
      <FunCodeOption InputType="1" Name="2:Output when the motor speed &lt; rotation speed threshold (F07.13), and absolute value of position deviation &lt; completion/approach threshold (F06.21/F06.22) after the command ends" />
      <FunCodeOption InputType="1" Name="3:After the command ends, the absolute value of position deviation &lt; F06. 21. F06.22, the output keeps the set time of F06.23" />
    </F06.20>
    <F06.21 Name="Positioning completion threshold" Remark="" />
    <F06.22 Name="Positioning approach threshold" Remark="" />
    <F06.23 Name="Positioning completion hold time" Remark="" />
    <F06.24 Name="Origin return function enable" Remark="">
      <FunCodeOption InputType="1" Name=" 0: Disable the function, prohibit the origin return " />
      <FunCodeOption InputType="1" Name=" 1: Enable the origin return immediately " />
      <FunCodeOption InputType="1" Name=" 2: Enable the terminal origin return" />
      <FunCodeOption InputType="1" Name=" 3: Enable the electrical return to zero immediately " />
      <FunCodeOption InputType="1" Name=" 4: Enable the terminal electrical return to zero " />
      <FunCodeOption InputType="1" Name=" 5: Start the origin return immediately after power-on   6: Take the current position as the origin " />
      <FunCodeOption InputType="1" Name=" 7: Take the current DI edge as the origin" />
    </F06.24>
    <F06.25 Name="Origin return function mode" Remark="">
      <FunCodeOption InputType="1" Name=" 0: Forward origin return (the Dec. point is the forward overtravel switch, and the origin is the Z signal) " />
      <FunCodeOption InputType="1" Name=" 1: Reverse origin return (the Dec. point is the reverse overtravel switch, and the origin is the Z signal) " />
      <FunCodeOption InputType="1" Name=" 2: Forward origin return (the Dec. point and the origin is the forward overtravel switch) " />
      <FunCodeOption InputType="1" Name=" 3: Reverse origin return (the Dec. point and the origin is the reverse overtravel switch) " />
      <FunCodeOption InputType="1" Name=" 4: Forward origin return (the Dec. point and the origin is the origin switch) " />
      <FunCodeOption InputType="1" Name=" 5: Reverse origin return (the Dec. point and the origin is the origin switch) " />
      <FunCodeOption InputType="1" Name=" 6: Forward origin return (the Dec. point and the origin is the Z signal) " />
      <FunCodeOption InputType="1" Name=" 7: Reverse origin return (the Dec. point and the origin is the Z signal) " />
      <FunCodeOption InputType="1" Name=" 8: Forward origin return (the Dec. point is the origin switch and the origin is the Z signal) " />
      <FunCodeOption InputType="1" Name=" 9: Reverse origin return (the Dec. point is the origin switch and the origin is the Z signal)" />
    </F06.25>
    <F06.26 Name="High speed search origin switch signal speed" Remark="" />
    <F06.27 Name="Low speed search origin switch signal speed" Remark="" />
    <F06.28 Name="Acc. and Dec. time when searching for origin" Remark="" />
    <F06.29 Name="Limit search origin time" Remark="" />
    <F06.30 Name="Limit the search origin time unit" Remark="">
      <FunCodeOption InputType="1" Name=" 0: The unit is 1ms " />
      <FunCodeOption InputType="1" Name=" 1: The unit is 10ms " />
      <FunCodeOption InputType="1" Name=" 2: The unit is 100ms" />
    </F06.30>
    <F06.31 Name="Mechanical origin offset and limit processing method" Remark="">
      <FunCodeOption InputType="1" Name="0: F06.32-2 is the coordinate after origin reset, after encountering the limit and retriggering the origin reset enable, reverse to find the origin" />
      <FunCodeOption InputType="1" Name="1: F06.32-2 is the relative offset after the origin reset, after encountering the limit and retriggering the origin return enable, reverse the origin search" />
      <FunCodeOption InputType="1" Name="2: F06.32-2 is the coordinate after the origin reset, and it will automatically find the zero in the reverse direction when it encounters the limit." />
      <FunCodeOption InputType="1" Name="3: F06.32-2 is the relative offset after the origin reset, and it will automatically find the zero in the reverse direction when the limit is encountered." />
    </F06.31>
    <F06.32 Name="Mechanical origin offset" Remark="" />
    <F06.34 Name="Encoder and command unit" Remark="">
      <FunCodeOption InputType="1" Name="0:The units of F06.21, F06.22, F06.18 are encoder units." />
      <FunCodeOption InputType="1" Name="1: The units of F06.21, F06.22, F06.18 are command units." />
    </F06.34>
    <F06.35 Name="High and low speed pulse input" Remark="">
      <FunCodeOption InputType="1" Name="0:General low-speed pulse input." />
      <FunCodeOption InputType="1" Name="1: High-speed pulse input." />
    </F06.35>
    <F06.36 Name="FPGA low-speed pulse port filter time" Remark="" />
    <F06.37 Name="FPGA high-speed pulse port filter time" Remark="" />
    <F06.39 Name="Encoder multi-turn data offset" Remark="" />
    <F06.43 Name="Multi-turn absolute position offset (low 32 bits)" Remark="" />
    <F06.45 Name="Multi-turn absolute position offset (high 32 bits)" Remark="" />
    <F06.51 Name="Interrupt displacement enable" Remark="">
      <FunCodeOption InputType="1" Name="0:off" />
      <FunCodeOption InputType="1" Name="1:on" />
    </F06.51>
    <F06.57 Name="Pulse input frequency and speed display" Remark="" />
    <F06.58 Name="The Max. position pulse input frequency" Remark="" />
  </F06>
  <F07 Name="SpeedControl" Remark="">
    <F07.00 Name="Speed command" Remark="">
      <FunCodeOption InputType="1" Name="0:Digital given. Given by F07.01" />
      <FunCodeOption InputType="1" Name="1: AI1 given. Input by external AI1, 10V corresponds to the Max. speed." />
      <FunCodeOption InputType="1" Name="2: AI2 given. Input by external AI2, 10V corresponds to the Max. speed." />
      <FunCodeOption InputType="1" Name="3: MS speed given. Given by group F0A" />
      <FunCodeOption InputType="1" Name="4: Terminal pulse frequency given. F07.07 corresponds to F00.01." />
      <FunCodeOption InputType="1" Name="5: Communication given." />
    </F07.00>
    <F07.01 Name="Speed command set value" Remark="" />
    <F07.03 Name="Speed command Acc. and Dec. mode" Remark="">
      <FunCodeOption InputType="1" Name="0:Command linear acceleration/deceleration" />
      <FunCodeOption InputType="1" Name="1:Command S-curve acceleration/deceleration" />
    </F07.03>
    <F07.04 Name="Speed command Acc. time" Remark="" />
    <F07.05 Name="Speed command Dec. time" Remark="" />
    <F07.06 Name="Speed command Acc. and Dec. smoothing constant" Remark="" />
    <F07.07 Name="Pulse frequency input upper limit" Remark="" />
    <F07.08 Name="Speed command pulse filter time" Remark="" />
    <F07.09 Name="Zero clamp speed threshold" Remark="" />
    <F07.10 Name="Zero clamp mode" Remark="">
      <FunCodeOption InputType="1" Name="0: When the ZCLAMP input signal is ON, the forced speed command is zero. When the actual speed drops to F07.09, it switches to the position mode locking. " />
      <FunCodeOption InputType="1" Name="1: When the ZCLAMP input signal is ON, forced zero speed. " />
      <FunCodeOption InputType="1" Name="2: When the ZCLAMP input signal is ON, the actual speed drops to F07.09, it switches to position mode locking" />
      <FunCodeOption InputType="1" Name="3: When the ZCLAMP input signal is ON, the given speed drops to F07.09, it switchesto position mode locking, and the given speed is greater than F07.09, and resume operation" />
    </F07.10>
    <F07.11 Name="Forward speed command limit" Remark="" />
    <F07.12 Name="Reverse speed command limit" Remark="" />
    <F07.13 Name="Motor rotation speed threshold" Remark="" />
    <F07.14 Name="Speed consistent signal threshold" Remark="" />
    <F07.15 Name="Speed arrival signal threshold" Remark="" />
    <F07.16 Name="Zero speed output signal threshold" Remark="" />
    <F07.17 Name="Speed DO filter time" Remark="" />
    <F07.18 Name="Speed display filter time 1" Remark="" />
    <F07.19 Name="Speed display filter coefficient 2" Remark="" />
  </F07>
  <F08 Name="TorqueControl" Remark="">
    <F08.00 Name="Torque command" Remark="">
      <FunCodeOption InputType="1" Name="0: Digital given. F08.01 setting." />
      <FunCodeOption InputType="1" Name="1: AI1 given. Input by external AI1, 10V corresponds to the Max. torque." />
      <FunCodeOption InputType="1" Name="2: AI2 given. Input by external AI2, 10V corresponds to the Max. torque." />
    </F08.00>
    <F08.01 Name="Torque command digital setting" Remark="" />
    <F08.02 Name="Torque command input inertia filter time" Remark="" />
    <F08.03 Name="Torque limit source" Remark="">
      <FunCodeOption InputType="1" Name="0:Positive and negative internal torque limit." />
      <FunCodeOption InputType="1" Name="1: Positive and negative external torque limit." />
      <FunCodeOption InputType="1" Name="2: TOR-LMT as external torque limit." />
      <FunCodeOption InputType="1" Name="3: The Min. (TOR-LMT, positive and negative external torque limit) is taken as the torque limit." />
      <FunCodeOption InputType="1" Name="4: TOR-LMT and positive and negative internal torque switching." />
    </F08.03>
    <F08.04 Name="TOR-LMT" Remark="">
      <FunCodeOption InputType="1" Name="0:AI1" />
      <FunCodeOption InputType="1" Name="1:AI2" />
    </F08.04>
    <F08.05 Name="Forward internal torque limit" Remark="" />
    <F08.06 Name="Reverse internal torque limit" Remark="" />
    <F08.07 Name="Forward external torque limit" Remark="" />
    <F08.08 Name="Reverse external torque limit" Remark="" />
    <F08.09 Name="Speed limit source" Remark="">
      <FunCodeOption InputType="1" Name="0: Forward and reverse speed limit, limited by F08.11 and F08.12." />
      <FunCodeOption InputType="1" Name="1: AI1 given, input by external analog AI1 channel, 10V corresponds to the Max. speed." />
      <FunCodeOption InputType="1" Name="2: AI2 given, input by external analog AI2 channel, 10V corresponds to the Max. speed." />
    </F08.09>
    <F08.10 Name="Command and speed are the same downward torque loop saturation output" Remark="">
      <FunCodeOption InputType="1" Name="0: When the speed exceeds the limit, if the feedback speed is in the same direction as the torque command selected by F08.00, the torque loop output will be limited based on the torque command." />
      <FunCodeOption InputType="1" Name="1: When the speed exceeds the limit, if the feedback speed is in the same direction as the torque command selected by F08.00, the torque loop output will be limited based on the torque limit value selected by F08.03." />
      <FunCodeOption InputType="1" Name="2: When the speed exceeds the limit, the torque loop output is limited based on the torque command selected by F08.00." />
      <FunCodeOption InputType="1" Name="3: When the speed exceeds the limit, the torque loop output is limited based on the torque limit value selected by F08.03." />
    </F08.10>
    <F08.11 Name="Forward speed limit" Remark="" />
    <F08.12 Name="Reverse speed limit" Remark="" />
    <F08.13 Name="Confirmation time to judge over-speed limit" Remark="" />
    <F08.14 Name="Emergency stop torque setting" Remark="" />
    <F08.15 Name="Reference value of torque arrival" Remark="" />
    <F08.16 Name="Output torque value when torque arrival DO signal is on" Remark="" />
    <F08.17 Name="Output torque value when torque arrival DO signal is off" Remark="" />
    <F08.18 Name="Overvoltage limit torque enable" Remark="">
      <FunCodeOption InputType="1" Name="0:Disable" />
      <FunCodeOption InputType="1" Name="1:Enable" />
    </F08.18>
    <F08.21 Name="Torque command increase and decrease method" Remark="">
      <FunCodeOption InputType="1" Name="0:Straight line" />
      <FunCodeOption InputType="1" Name="1:Reserved" />
    </F08.21>
    <F08.22 Name="Torque command rising time" Remark="" />
    <F08.23 Name="Torque command falling time" Remark="" />
  </F08>
  <F09 Name="Multi-positionParameters" Remark="">
    <F09.00 Name="Multi-position" Remark="" />
    <F09.01 Name="Multi-position operation mode" Remark="">
      <FunCodeOption InputType="3" Name="Thousand: Time unit " />
      <FunCodeOption InputType="3" Name="0: Time unit of group F09 is ms " />
      <FunCodeOption InputType="3" Name="1: Time unit of group F09 is s " />
      <FunCodeOption InputType="3" Name="Hundred: Residual displacement processing method" />
      <FunCodeOption InputType="3" Name="0: Continue to complete the residual displacement" />
      <FunCodeOption InputType="3" Name="1: Do not deal with the residual displacement, and start the first section again" />
      <FunCodeOption InputType="3" Name="Ten: MS running mode" />
      <FunCodeOption InputType="3" Name="0: Stop at the end of a single running" />
      <FunCodeOption InputType="3" Name="1: Cycle running" />
      <FunCodeOption InputType="3" Name="2: DI switching  running" />
      <FunCodeOption InputType="3" Name="3: Run in sequence" />
      <FunCodeOption InputType="3" Name="Unit: Pace change mode" />
      <FunCodeOption InputType="3" Name="0: Relative positioning" />
      <FunCodeOption InputType="3" Name="1: Absolute positioning" />
    </F09.01>
    <F09.02 Name="Multi-position 1 pulse number" Remark="" />
    <F09.04 Name="Multi-position 1 running speed" Remark="" />
    <F09.05 Name="Multi-position 1 Acc. and Dec. time" Remark="" />
    <F09.06 Name="Waiting time after completion of multi-position 1" Remark="" />
    <F09.07 Name="Multi-position 2 pulses" Remark="" />
    <F09.09 Name="Multi-position 2 running speed" Remark="" />
    <F09.10 Name="Multi-position 2 Acc. and Dec. time" Remark="" />
    <F09.11 Name="Waiting time after completion of multi-position 2" Remark="" />
    <F09.12 Name="Multi-position 3 pulses" Remark="" />
    <F09.14 Name="Multi-position 3 running speed" Remark="" />
    <F09.15 Name="Multi-position 3 Acc. and Dec. time" Remark="" />
    <F09.16 Name="Waiting time after completion of multi-position 3" Remark="" />
    <F09.17 Name="Multi-position 4 pulses" Remark="" />
    <F09.19 Name="Multi-position 4 running speed" Remark="" />
    <F09.20 Name="Multi-position 4 Acc. and Dec. time" Remark="" />
    <F09.21 Name="Waiting time after completion of multi-position 4" Remark="" />
    <F09.22 Name="Multi-position 5 pulses" Remark="" />
    <F09.24 Name="Multi-position 5 running speed" Remark="" />
    <F09.25 Name="Multi-position 5 Acc. and Dec. time" Remark="" />
    <F09.26 Name="Waiting time after completion of multi-position 5" Remark="" />
    <F09.27 Name="Multi-position 6 pulses" Remark="" />
    <F09.29 Name="Multi-position 6 running speed" Remark="" />
    <F09.30 Name="Multi-position 6 Acc. and Dec. time" Remark="" />
    <F09.31 Name="Waiting time after completion of Multi-position 6" Remark="" />
    <F09.32 Name="Multi-position 7 pulses" Remark="" />
    <F09.34 Name="Multi-position 7 running speed" Remark="" />
    <F09.35 Name="Multi-position 7 Acc. and Dec. time" Remark="" />
    <F09.36 Name="Waiting time after completion of multi-position 7" Remark="" />
    <F09.37 Name="Multi-position 8 pulses" Remark="" />
    <F09.39 Name="Multi-position 8 running speed" Remark="" />
    <F09.40 Name="Multi-stage position 8 Acc. and Dec. time" Remark="" />
    <F09.41 Name="Waiting time after completion of multi-position 8" Remark="" />
    <F09.42 Name="Multi-position 9 pulses" Remark="" />
    <F09.44 Name="Multi-position 9 running speed" Remark="" />
    <F09.45 Name="Multi-stage position 9 Acc. and Dec. time" Remark="" />
    <F09.46 Name="Waiting time after completion of multi-position 9" Remark="" />
    <F09.47 Name="Multi-position 10 pulses" Remark="" />
    <F09.49 Name="Multi-position 10 running speed" Remark="" />
    <F09.50 Name="Multi-position 10 Acc. and Dec. time" Remark="" />
    <F09.51 Name="Waiting time after completion of multi-position 10" Remark="" />
    <F09.52 Name="Multi-position 11 pulses" Remark="" />
    <F09.54 Name="Multi-position 11 running speed" Remark="" />
    <F09.55 Name="Multi-position 11 Acc. and Dec. time" Remark="" />
    <F09.56 Name="Waiting time after completion of multi-position 11" Remark="" />
    <F09.57 Name="Multi-position 12 pulses" Remark="" />
    <F09.59 Name="Multi-position 12 running speed" Remark="" />
    <F09.60 Name="Multi-position 12 Acc. and Dec. time" Remark="" />
    <F09.61 Name="Waiting time after completion of multi-position 12" Remark="" />
    <F09.62 Name="Multi-position 13 pulses" Remark="" />
    <F09.64 Name="Multi-position 13 running speed" Remark="" />
    <F09.65 Name="Multi-position 13 Acc. and Dec. time" Remark="" />
    <F09.66 Name="Waiting time after completion of multi-position 13" Remark="" />
    <F09.67 Name="Multi-position 14 pulses" Remark="" />
    <F09.69 Name="Multi-position 14 running speed" Remark="" />
    <F09.70 Name="Multi-position 14 Acc. and Dec. time" Remark="" />
    <F09.71 Name="Waiting time after completion of multi-position 14" Remark="" />
    <F09.72 Name="Multi-position 15 pulses" Remark="" />
    <F09.74 Name="Multi-position 15 running speed" Remark="" />
    <F09.75 Name="Multi-position 15 Acc. and Dec. time" Remark="" />
    <F09.76 Name="Waiting time after completion of multi-position 15" Remark="" />
    <F09.77 Name="Multi-position 16 pulses" Remark="" />
    <F09.79 Name="Multi-position 16 running speed" Remark="" />
    <F09.80 Name="Multi-position 16 Acc. and Dec. time" Remark="" />
    <F09.81 Name="Wait time after completion of multi-position 16" Remark="" />
    <F09.82 Name="Cycle mode starting segment" Remark="" />
  </F09>
  <F0A Name="Multi-speedParameters" Remark="">
    <F0A.00 Name="Multi-speed" Remark="" />
    <F0A.01 Name="Multi-speed operation mode" Remark="">
      <FunCodeOption InputType="1" Name="0: Switch by terminals CMD0-CMD3 " />
      <FunCodeOption InputType="1" Name="1: Stop after a single cycle " />
      <FunCodeOption InputType="1" Name="2: Cyclic operation" />
    </F0A.01>
    <F0A.02 Name="The first speed command" Remark="" />
    <F0A.03 Name="The first speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.03>
    <F0A.04 Name="The first speed command runtime" Remark="" />
    <F0A.05 Name="The second speed command" Remark="" />
    <F0A.06 Name="The second speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.06>
    <F0A.07 Name="The second speed command running time" Remark="" />
    <F0A.08 Name="The third speed command" Remark="" />
    <F0A.09 Name="The third speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.09>
    <F0A.10 Name="The third speed command running time" Remark="" />
    <F0A.11 Name="The fourth speed command" Remark="" />
    <F0A.12 Name="The fourth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.12>
    <F0A.13 Name="The fourth speed command running time" Remark="" />
    <F0A.14 Name="The fifth speed command" Remark="" />
    <F0A.15 Name="The fifth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.15>
    <F0A.16 Name="The fifth speed command running time" Remark="" />
    <F0A.17 Name="The sixth stage speed command" Remark="" />
    <F0A.18 Name="The sixth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.18>
    <F0A.19 Name="The sixth speed command running time" Remark="" />
    <F0A.20 Name="The seventh speed command" Remark="" />
    <F0A.21 Name="The seventh speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.21>
    <F0A.22 Name="The seventh speed command running time" Remark="" />
    <F0A.23 Name="The eighth stage speed command" Remark="" />
    <F0A.24 Name="The eighth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.24>
    <F0A.25 Name="The eighth speed command running time" Remark="" />
    <F0A.26 Name="The ninth speed command" Remark="" />
    <F0A.27 Name="The ninth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.27>
    <F0A.28 Name="The ninth speed command running time" Remark="" />
    <F0A.29 Name="The tenth speed command" Remark="" />
    <F0A.30 Name="The tenth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.30>
    <F0A.31 Name="The tenth speed command running time" Remark="" />
    <F0A.32 Name="The eleventh speed command" Remark="" />
    <F0A.33 Name="The eleventh speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.33>
    <F0A.34 Name="The eleventh speed command running time" Remark="" />
    <F0A.35 Name="The twelfth speed command" Remark="" />
    <F0A.36 Name="The twelfth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.36>
    <F0A.37 Name="The twelfth speed command running time" Remark="" />
    <F0A.38 Name="The thirteenth speed command" Remark="" />
    <F0A.39 Name="The thirteenth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.39>
    <F0A.40 Name="The thirteenth speed command running time" Remark="" />
    <F0A.41 Name="The fourteenth speed command" Remark="" />
    <F0A.42 Name="The fourteenth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.42>
    <F0A.43 Name="The fourteenth speed command running time" Remark="" />
    <F0A.44 Name="The fifteenth speed command" Remark="" />
    <F0A.45 Name="The fifteenth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.45>
    <F0A.46 Name="The fifteenth speed command running time" Remark="" />
    <F0A.47 Name="The sixteenth speed command" Remark="" />
    <F0A.48 Name="The sixteenth speed command direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Acc. and Dec. time is 0." />
      <FunCodeOption InputType="1" Name="1: Select the group 1 (Acc. time F0A.51, Dec. time F0A.52)." />
      <FunCodeOption InputType="1" Name="2: Select the group 2 (Acc. time F0A.53, Dec. time F0A.54)." />
      <FunCodeOption InputType="1" Name="3: Select the group 3 (Acc. time F0A.55, Dec. time F0A.56)." />
      <FunCodeOption InputType="1" Name="4: Select the group 4 (Acc. time F0A.57, Dec. time F0A.58)." />
    </F0A.48>
    <F0A.49 Name="The sixteenth speed command running time" Remark="" />
    <F0A.50 Name="Multi-speed running time unit" Remark="">
      <FunCodeOption InputType="1" Name="0:sec" />
      <FunCodeOption InputType="1" Name="1:min" />
    </F0A.50>
    <F0A.51 Name="Multi-speed Acc. time 1 set" Remark="" />
    <F0A.52 Name="Multi-speed Dec.  time 1 set" Remark="" />
    <F0A.53 Name="Multi-speed Acc.  time 2 set" Remark="" />
    <F0A.54 Name="Multi-speed Dec.  time 2 set" Remark="" />
    <F0A.55 Name="Multi-speed Acc.  time 3 set" Remark="" />
    <F0A.56 Name="Multi-speed Dec.  time 3 set" Remark="" />
    <F0A.57 Name="Multi-speed Acc.  time 4 set" Remark="" />
    <F0A.58 Name="Multi-speed Dec.  time 4 set" Remark="" />
  </F0A>
  <F0b Name="AuxiliaryParameters" Remark="">
    <F0b.02 Name="Software enable" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Software enabled, servo is in ON state" />
    </F0b.02>
    <F0b.10 Name="Restore to factory setting" Remark="">
      <FunCodeOption InputType="1" Name="0: Not restore" />
      <FunCodeOption InputType="1" Name="1: Restore" />
    </F0b.10>
    <F0b.11 Name="Clear fault record" Remark="">
      <FunCodeOption InputType="1" Name="0: Not clear" />
      <FunCodeOption InputType="1" Name="1: Clear" />
    </F0b.11>
    <F0b.17 Name="Speed feedback selection" Remark="">
      <FunCodeOption InputType="1" Name="0:FPGA speed" />
      <FunCodeOption InputType="1" Name="1:M method speed" />
    </F0b.17>
    <F0b.18 Name="Speed feedback average filter coefficient" Remark="" />
    <F0b.19 Name="Cut-off frequency of low-pass filter with speed feedback" Remark="" />
    <F0b.20 Name="User password" Remark="" />
  </F0b>
  <F0c Name="CommunicationParameters" Remark="">
    <F0c.00 Name="Modbus address of servo driver" Remark="" />
    <F0c.01 Name="485 serial communication baud rate" Remark="">
      <FunCodeOption InputType="1" Name="0:2400bps" />
      <FunCodeOption InputType="1" Name="1:4800bps" />
      <FunCodeOption InputType="1" Name="2:9600bps" />
      <FunCodeOption InputType="1" Name="3:19200bps" />
      <FunCodeOption InputType="1" Name="4:38400bps" />
      <FunCodeOption InputType="1" Name="5:57600bps" />
      <FunCodeOption InputType="1" Name="6:11520000bps" />
    </F0c.01>
    <F0c.02 Name="Modbus data format" Remark="">
      <FunCodeOption InputType="1" Name="0:1-8-2 format, no parity" />
      <FunCodeOption InputType="1" Name="1:1-8-1 format, even parity" />
      <FunCodeOption InputType="1" Name="2:1-8-1 format, odd parity" />
      <FunCodeOption InputType="1" Name="3:1-8-1 format, no parity" />
    </F0c.02>
    <F0c.04 Name="Modbus command response delay" Remark="" />
    <F0c.05 Name="232 serial communication baud rate" Remark="">
      <FunCodeOption InputType="1" Name="0:2400bps" />
      <FunCodeOption InputType="1" Name="1:4800bps" />
      <FunCodeOption InputType="1" Name="2:9600bps" />
      <FunCodeOption InputType="1" Name="3:19200bps" />
      <FunCodeOption InputType="1" Name="4:38400bps" />
      <FunCodeOption InputType="1" Name="5:57600bps" />
      <FunCodeOption InputType="1" Name="6:11520000bps" />
    </F0c.05>
    <F0c.08 Name="CAN communication protocol" Remark="">
      <FunCodeOption InputType="1" Name="0: CANopen" />
      <FunCodeOption InputType="1" Name="1: General communication protocol" />
      <FunCodeOption InputType="1" Name="2: Slave communication protocol among servos" />
      <FunCodeOption InputType="1" Name="3: Master communication protocol among servos" />
    </F0c.08>
    <F0c.10 Name="Local address" Remark="" />
    <F0c.20 Name="CAN communication rate setting" Remark="">
      <FunCodeOption InputType="1" Name="0:20kbps" />
      <FunCodeOption InputType="1" Name="1:50kbps" />
      <FunCodeOption InputType="1" Name="2:100kbps" />
      <FunCodeOption InputType="1" Name="3:125kbps" />
      <FunCodeOption InputType="1" Name="4:250kbps" />
      <FunCodeOption InputType="1" Name="5:500kbps" />
      <FunCodeOption InputType="1" Name="6:1Mbps" />
    </F0c.20>
    <F0c.21 Name="CAN communication QDF1 set value 1" Remark="" />
    <F0c.22 Name="CAN communication QDF1 set value 2" Remark="" />
    <F0c.23 Name="CAN communication QDF1 set value 3" Remark="" />
    <F0c.24 Name="CAN communication QDF1 set value 4" Remark="" />
    <F0c.25 Name="CAN communication QDF2 set value 1" Remark="" />
    <F0c.26 Name="CAN communication QDF2 set value 2" Remark="" />
    <F0c.27 Name="CAN communication QDF2 set value 3" Remark="" />
    <F0c.28 Name="CAN communication QDF2 set value 4" Remark="" />
    <F0c.29 Name="CAN communication QDF3 set value 1" Remark="" />
    <F0c.30 Name="CAN communication QDF3 set value 2" Remark="" />
    <F0c.31 Name="CAN communication QDF1 response value 1" Remark="" />
    <F0c.32 Name="CAN communication QDF1 response value 2" Remark="" />
    <F0c.33 Name="CAN communication QDF1 response value 3" Remark="" />
    <F0c.34 Name="CAN communication QDF1 response value 4" Remark="" />
    <F0c.35 Name="CAN communication QDF2 response value 1" Remark="" />
    <F0c.36 Name="CAN communication QDF2 response value 2" Remark="" />
    <F0c.37 Name="CAN communication QDF2 response value 3" Remark="" />
    <F0c.38 Name="CAN communication QDF2 response value 4" Remark="" />
    <F0c.39 Name="CAN communication QDF3 response value 1" Remark="" />
    <F0c.40 Name="CAN communication QDF3 response value 2" Remark="" />
    <F0c.41 Name="PDO disconnection detection time" Remark="" />
    <F0c.42 Name="PDO disconnection stop mode" Remark="">
      <FunCodeOption InputType="1" Name=" 0: No stop" />
      <FunCodeOption InputType="1" Name="1: Stop" />
    </F0c.42>
  </F0c>
  <F0d Name="FaultAndProtection" Remark="">
    <F0d.00 Name="Overload pre-alarm detection" Remark="">
      <FunCodeOption InputType="2" Name="Thousand: Reserved " />
      <FunCodeOption InputType="2" Name="Hundred: Overload protection " />
      <FunCodeOption InputType="2" Name="0: Enable 1: Shield " />
      <FunCodeOption InputType="2" Name="Ten: Pre-alarm detection amount selection " />
      <FunCodeOption InputType="2" Name="0: The detection level is relative to the motor rated current (alarm: motor overload)" />
      <FunCodeOption InputType="2" Name="1: The detection level is relative to the driver rated current (alarm: driver overload)" />
      <FunCodeOption InputType="2" Name="Unit: Pre-alarm action selection " />
      <FunCodeOption InputType="2" Name="0: When overload detection is valid, pre-alarm and continue to run" />
      <FunCodeOption InputType="2" Name="1: When overload detection is valid, alarm and stop" />
    </F0d.00>
    <F0d.01 Name="Overload pre-alarm detection level" Remark="" />
    <F0d.10 Name="Input phase loss detection reference" Remark="" />
    <F0d.11 Name="Input phase loss detection time" Remark="" />
    <F0d.14 Name="Fan control" Remark="">
      <FunCodeOption InputType="1" Name="0: Run on, stop immediately off" />
      <FunCodeOption InputType="1" Name="1: Always on" />
      <FunCodeOption InputType="1" Name="2: Run on, stop after the shutdown lasts for 1min" />
    </F0d.14>
    <F0d.15 Name="Stalling alarm speed" Remark="" />
    <F0d.16 Name="Stalling alarm time" Remark="" />
    <F0d.17 Name="Encoder disconnection detection time" Remark="" />
    <F0d.19 Name="Motor overspeed detection value" Remark="" />
    <F0d.21 Name="Motor speed out of detection value" Remark="" />
    <F0d.22 Name="Motor speed out of detection time" Remark="" />
    <F0d.23 Name="Brake function selection in disabled state" Remark="">
      <FunCodeOption InputType="1" Name="0:Disable the braking unit" />
      <FunCodeOption InputType="1" Name="1:Enable the braking unit" />
    </F0d.23>
    <F0d.24 Name="Braking resistor type" Remark="">
      <FunCodeOption InputType="1" Name="0:Internal braking resistor" />
      <FunCodeOption InputType="1" Name="1:Use external braking resistor and natural cooling" />
      <FunCodeOption InputType="1" Name="2:Use external braking resistor and natural cooling" />
      <FunCodeOption InputType="1" Name="3:Do not use braking resistor" />
    </F0d.24>
    <F0d.25 Name="External braking resistor power" Remark="" />
    <F0d.26 Name="External braking resistance" Remark="" />
    <F0d.27 Name="Heat dissipation coefficient of braking resistor" Remark="" />
    <F0d.28 Name="Upper limit setting of continuous braking time" Remark="" />
    <F0d.30 Name="Overvoltage limit torque starting voltage" Remark="" />
    <F0d.32 Name="Encoder multi-turn overflow fault" Remark="">
      <FunCodeOption InputType="1" Name="0:Enable" />
      <FunCodeOption InputType="1" Name="1:Disable" />
    </F0d.32>
    <F0d.37 Name="Communication timeout" Remark="" />
    <F0d.38 Name="Communication disconnection timing" Remark="" />
    <F0d.41 Name="Overload flag" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F0d.41>
    <F0d.42 Name="Encoder battery alarm flag" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F0d.42>
    <F0d.43 Name="Motor and driver current mismatch enable" Remark="">
      <FunCodeOption InputType="1" Name="0:The drive is automatically detected, if it does not match, it will report A028.5 warning" />
      <FunCodeOption InputType="1" Name="1:Do not detect" />
    </F0d.43>
    <F0d.46 Name="Motor overload protection gain" Remark="" />
  </F0d>
  <F0E Name="UsabilityParameters" Remark="">
    <F0E.00 Name="Operating mode of host computer" Remark="">
      <FunCodeOption InputType="1" Name="0:Exit the host computer mode" />
      <FunCodeOption InputType="1" Name="1:Host computer mode controls servo JOG or positioning test run" />
    </F0E.00>
    <F0E.01 Name="Host mode selection" Remark="">
      <FunCodeOption InputType="1" Name="0: Position mode" />
      <FunCodeOption InputType="1" Name="1: Speed mode" />
      <FunCodeOption InputType="1" Name="2: Torque mode" />
    </F0E.01>
    <F0E.02 Name="Keyboard speed JOG jog enable" Remark="" />
    <F0E.03 Name="JOG speed command set value" Remark="" />
    <F0E.04 Name="Jog Acc. and Dec. time" Remark="" />
    <F0E.06 Name="Positioning test run" Remark="">
      <FunCodeOption InputType="1" Name="0:JOG" />
      <FunCodeOption InputType="1" Name="1:Positioning test run" />
    </F0E.06>
    <F0E.07 Name="JOG positioning direction" Remark="">
      <FunCodeOption InputType="1" Name="0: Do not run" />
      <FunCodeOption InputType="1" Name="1: Running in CCW direction" />
      <FunCodeOption InputType="1" Name="2: Running in CW direction" />
    </F0E.07>
    <F0E.08 Name="JOG positioning limit position" Remark="">
      <FunCodeOption InputType="1" Name="0:Do not set" />
      <FunCodeOption InputType="1" Name="1:Set" />
    </F0E.08>
    <F0E.09 Name="JOG positioning limit coordinate CCW" Remark="" />
    <F0E.11 Name="JOG positioning limit coordinate CW" Remark="" />
    <F0E.13 Name="JOG positioning sent pulse number" Remark="" />
    <F0E.15 Name="Positioning test run distance setting" Remark="" />
    <F0E.17 Name="Positioning test run mode" Remark="">
      <FunCodeOption InputType="1" Name="0:Single" />
      <FunCodeOption InputType="1" Name="1:Continuous" />
    </F0E.17>
    <F0E.18 Name="Positioning test run direction setting" Remark="">
      <FunCodeOption InputType="1" Name="0:Do not run" />
      <FunCodeOption InputType="1" Name="1: Running in CCW direction" />
      <FunCodeOption InputType="1" Name="2: Running in CW direction" />
    </F0E.18>
    <F0E.19 Name="Positioning test run waiting time" Remark="" />
    <F0E.20 Name="Max. speed of positioning run" Remark="" />
    <F0E.21 Name="Positioning test run Acc. and Dec. time" Remark="" />
    <F0E.22 Name="JOG positioning pulse clear" Remark="">
      <FunCodeOption InputType="1" Name="0:Do not clear" />
      <FunCodeOption InputType="1" Name="1: Clear to zero" />
    </F0E.22>
  </F0E>
  <F0F Name="FaultStop" Remark="">
    <F0F.00 Name="Fault stop mode position 1" Remark="" />
    <F0F.01 Name="Fault stop mode position 2" Remark="" />
    <F0F.02 Name="Fault stop mode position 3" Remark="" />
    <F0F.03 Name="Fault stop mode position 4" Remark="" />
    <F0F.04 Name="Fault stop mode position 5" Remark="" />
    <F0F.05 Name="Fault stop mode position 6" Remark="" />
    <F0F.06 Name="Fault stop mode position 7" Remark="" />
    <F0F.07 Name="Fault stop mode position 8" Remark="" />
    <F0F.08 Name="Fault stop mode position 9" Remark="" />
    <F0F.09 Name="Fault stop mode position 10" Remark="" />
    <F0F.10 Name="Fault stop mode position 11" Remark="" />
    <F0F.11 Name="Fault stop mode position 12" Remark="" />
    <F0F.12 Name="Fault stop mode position 13" Remark="" />
    <F0F.13 Name="Fault stop mode position 14" Remark="" />
    <F0F.14 Name="Fault stop mode position 15" Remark="" />
    <F0F.15 Name="Fault stop mode position 16" Remark="" />
    <F0F.16 Name="Fault stop mode position 17" Remark="" />
    <F0F.17 Name="Fault stop mode position 18" Remark="" />
    <F0F.18 Name="Fault stop mode position 19" Remark="" />
    <F0F.19 Name="Fault stop mode position 20" Remark="" />
    <F0F.20 Name="Fault stop mode position 21" Remark="" />
    <F0F.21 Name="Fault stop mode position 22" Remark="" />
    <F0F.22 Name="Fault stop mode position 23" Remark="" />
    <F0F.23 Name="Fault stop mode position 24" Remark="" />
    <F0F.24 Name="Fault stop mode position 25" Remark="" />
    <F0F.25 Name="Fault stop mode position 26" Remark="" />
    <F0F.26 Name="Fault stop mode position 27" Remark="" />
    <F0F.27 Name="Fault stop mode position 28" Remark="" />
    <F0F.28 Name="Fault stop mode position 29" Remark="" />
    <F0F.29 Name="Fault stop mode position 30" Remark="" />
    <F0F.30 Name="Fault stop mode position 31" Remark="" />
    <F0F.31 Name="Fault stop mode position 32" Remark="" />
    <F0F.32 Name="Fault stop mode position 33" Remark="" />
    <F0F.33 Name="Fault stop mode position 34" Remark="" />
    <F0F.34 Name="Fault stop mode position 35" Remark="" />
    <F0F.35 Name="Fault stop mode position 36" Remark="" />
    <F0F.36 Name="Fault stop mode position 37" Remark="" />
  </F0F>
  <F12 Name="VirtualDIDO" Remark="">
    <F12.00 Name="VDI1 function" Remark="" />
    <F12.01 Name="VDI2 function" Remark="" />
    <F12.02 Name="VDI3 function" Remark="" />
    <F12.03 Name="VDI4 function" Remark="" />
    <F12.04 Name="VDI5 function" Remark="" />
    <F12.05 Name="VDI6 function" Remark="" />
    <F12.06 Name="VDI7 function" Remark="" />
    <F12.07 Name="VDI8 function" Remark="" />
    <F12.08 Name="VDI9 function" Remark="" />
    <F12.09 Name="VDI10 function" Remark="" />
    <F12.10 Name="VDI11 function" Remark="" />
    <F12.11 Name="VDI12 function" Remark="" />
    <F12.12 Name="VDI13 function" Remark="" />
    <F12.13 Name="VDI14 function" Remark="" />
    <F12.14 Name="VDI15 function" Remark="" />
    <F12.15 Name="VDI16 function" Remark="" />
    <F12.16 Name="VDI1 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.16>
    <F12.17 Name="VDI2 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.17>
    <F12.18 Name="VDI3 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.18>
    <F12.19 Name="VDI4 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.19>
    <F12.20 Name="VDI5 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.20>
    <F12.21 Name="VDI6 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.21>
    <F12.22 Name="VDI7 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.22>
    <F12.23 Name="VDI8 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.23>
    <F12.24 Name="VDI9 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.24>
    <F12.25 Name="VDI10 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.25>
    <F12.26 Name="VDI11 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.26>
    <F12.27 Name="VDI12 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.27>
    <F12.28 Name="VDI13 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.28>
    <F12.29 Name="VDI14 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.29>
    <F12.30 Name="VDI15 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.30>
    <F12.31 Name="VDI16 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Writing 1 valid" />
      <FunCodeOption InputType="1" Name="1:The written value is valid from 0 to 1" />
    </F12.31>
    <F12.32 Name="VDO1 function" Remark="" />
    <F12.33 Name="VDO2 function" Remark="" />
    <F12.34 Name="VDO3 function" Remark="" />
    <F12.35 Name="VDO4 function" Remark="" />
    <F12.36 Name="VDO5 function" Remark="" />
    <F12.37 Name="VDO6 function" Remark="" />
    <F12.38 Name="VDO7 function" Remark="" />
    <F12.39 Name="VDO8 function" Remark="" />
    <F12.40 Name="VDO9 function" Remark="" />
    <F12.41 Name="VDO10 function" Remark="" />
    <F12.42 Name="VDO11 function" Remark="" />
    <F12.43 Name="VDO12 function" Remark="" />
    <F12.44 Name="VDO13 function" Remark="" />
    <F12.45 Name="VDO14 function" Remark="" />
    <F12.46 Name="VDO15 function" Remark="" />
    <F12.47 Name="VDO16 function" Remark="" />
    <F12.50 Name="Whether to use VDI" Remark="">
      <FunCodeOption InputType="1" Name="0:Not used" />
      <FunCodeOption InputType="1" Name="1:Used" />
    </F12.50>
    <F12.51 Name="VDI default value after power on" Remark="" />
    <F12.52 Name="VDI virtual level" Remark="" />
    <F12.53 Name="Whether to use VDO" Remark="">
      <FunCodeOption InputType="1" Name="0:not used" />
      <FunCodeOption InputType="1" Name="1:used" />
    </F12.53>
    <F12.54 Name="VDO default value after power-on" Remark="" />
    <F12.55 Name="VDO virtual level" Remark="" />
    <F12.57 Name="VDO1 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.57>
    <F12.58 Name="VDO2 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.58>
    <F12.59 Name="VDO3 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.59>
    <F12.60 Name="VDO4 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.60>
    <F12.61 Name="VDO5 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.61>
    <F12.62 Name="VDO6 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.62>
    <F12.63 Name="VDO7 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.63>
    <F12.64 Name="VDO8 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.64>
    <F12.65 Name="VDO9 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.65>
    <F12.66 Name="VDO10 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.66>
    <F12.67 Name="VDO11 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.67>
    <F12.68 Name="VDO12 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.68>
    <F12.69 Name="VDO13 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.69>
    <F12.70 Name="VDO14 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.70>
    <F12.71 Name="VDO15 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.71>
    <F12.72 Name="VDO16 logic" Remark="">
      <FunCodeOption InputType="1" Name="0:Output 1 when valid" />
      <FunCodeOption InputType="1" Name="1:Output 0 when valid" />
    </F12.72>
  </F12>
  <F20 Name="OperationCommand" Remark="">
    <F20.00 Name="Fault reset command" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F20.00>
    <F20.01 Name="Software reset command" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F20.01>
    <F20.02 Name="FPGA fault reset command" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F20.02>
    <F20.03 Name="Encoder reset command" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Start reset encoder fault" />
      <FunCodeOption InputType="1" Name="2:Start reset encoder fault and multi-turn data" />
    </F20.03>
    <F20.04 Name="Bus encoder EEPROM operation command" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Start writing function parameters to encoder EEPROM" />
      <FunCodeOption InputType="1" Name="2:Start reading encoder EEPROM to function parameters" />
    </F20.04>
    <F20.06 Name="Self-learning from the initial angle" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F20.06>
    <F20.10 Name="UV phase current sampling linear gain self-learning" Remark="">
      <FunCodeOption InputType="1" Name="0:Invalid" />
      <FunCodeOption InputType="1" Name="1:Valid" />
    </F20.10>
  </F20>
  <d00 Name="DriverMonitoring" Remark="">
    <d00.00 Name="Actual motor speed" Remark="" />
    <d00.01 Name="Speed command" Remark="" />
    <d00.02 Name="Given torque command" Remark="" />
    <d00.03 Name="Output torque" Remark="" />
    <d00.04 Name="DI input signal monitoring" Remark="" />
    <d00.05 Name="DO output signal monitoring" Remark="" />
    <d00.06 Name="Servo motor mechanical angle" Remark="" />
    <d00.07 Name="Servo motor electrical angle" Remark="" />
    <d00.08 Name=" Input position command corresponding speed" Remark="" />
    <d00.09 Name="Position deviation (encoder unit)" Remark="" />
    <d00.11 Name="Input command pulse counter (command unit)" Remark="" />
    <d00.13 Name="Feedback pulse counter (encoder unit)" Remark="" />
    <d00.15 Name="Pulse input frequency" Remark="" />
    <d00.17 Name="Bus voltage" Remark="" />
    <d00.18 Name="Output frequency" Remark="" />
    <d00.20 Name="Output current" Remark="" />
    <d00.21 Name="Output voltage" Remark="" />
    <d00.22 Name="AI1 sampling voltage value" Remark="" />
    <d00.23 Name="AI1 processed voltage" Remark="" />
    <d00.24 Name="AI2 sampling voltage value" Remark="" />
    <d00.25 Name="AI2 processed voltage" Remark="" />
    <d00.26 Name="AO1 output voltage" Remark="" />
    <d00.27 Name="AO2 output voltage" Remark="" />
    <d00.31 Name="Absolute encoder extended data or multi-turn data" Remark="" />
    <d00.32 Name="Bus encoder feedback single-turn position" Remark="" />
    <d00.36 Name="FPGA system status information" Remark="" />
    <d00.37 Name="FPGA system fault information" Remark="" />
    <d00.38 Name="FPGA bus encoder fault information" Remark="" />
    <d00.39 Name="FPGA system fault information 2" Remark="" />
    <d00.42 Name="Average motor loading rate" Remark="" />
    <d00.45 Name="Real-time output torque" Remark="" />
    <d00.46 Name="Absolute position counter (command unit)" Remark="" />
    <d00.50 Name="Position follow-up error (command unit)" Remark="" />
    <d00.54 Name="Mechanical absolute position (low 32 bit)" Remark="" />
    <d00.56 Name="Mechanical absolute position (high 32 bit)" Remark="" />
    <d00.58 Name="Multi-turn absolute encoder position (low 32 bit)" Remark="" />
    <d00.60 Name="Multi-turn absolute encoder position (high 32 bit)" Remark="" />
    <d00.68 Name="Real-time pulse input command counter (command unit)" Remark="" />
    <d00.74 Name="Virtual DI input signal monitoring" Remark="" />
    <d00.75 Name="Virtual DO output signal monitoring" Remark="" />
  </d00>
  <d01 Name="FaultMoitoring" Remark="">
    <d01.00 Name="Fault record selection" Remark="" />
    <d01.01 Name="Fault code of selected times" Remark="" />
    <d01.02 Name="U phase current at selected fault" Remark="" />
    <d01.03 Name="V phase current at selected fault" Remark="" />
    <d01.04 Name="Motor speed at fault" Remark="" />
    <d01.05 Name="Bus voltage at fault" Remark="" />
    <d01.06 Name="Output voltage at fault" Remark="" />
    <d01.07 Name="DI terminal status at fault" Remark="" />
    <d01.08 Name="DO terminal status at fault" Remark="" />
    <d01.09 Name="Internal fault code at selected fault" Remark="" />
    <d01.10 Name="Fault information of FPGA bus encoder at selected fault" Remark="" />
    <d01.11 Name="FPGA system status information at selected faults" Remark="" />
    <d01.12 Name="FPGA system fault information at selected fault" Remark="" />
    <d01.14 Name="FPGA system fault information 2 at selected fault" Remark="" />
    <d01.15 Name="Position follow-up error at selected fault" Remark="" />
    <d01.18 Name="Function parameter group with abnormal parameter" Remark="" />
    <d01.19 Name="Function parameter group offset with abnormal parameter" Remark="" />
    <d01.20 Name="Servo working status" Remark="" />
    <d01.21 Name="Current fault code" Remark="" />
  </d01>
  <d02 Name="SystemVersion" Remark="">
    <d02.00 Name="Servo driver series" Remark="" />
    <d02.01 Name="Servo driver software version" Remark="" />
    <d02.02 Name="Non-standard version of servo driver software" Remark="" />
    <d02.03 Name="Servo driver model" Remark="" />
    <d02.04 Name="Motor code" Remark="" />
    <d02.05 Name="Motor non-marking" Remark="" />
    <d02.06 Name="Encoder version number" Remark="" />
    <d02.07 Name="CAN software version number" Remark="" />
    <d02.08 Name="The Min. allowable braking resistor of the driver" Remark="" />
    <d02.09 Name="Built-in braking resistor power" Remark="" />
    <d02.10 Name="Built-in braking resistor resistance" Remark="" />
    <d02.11 Name="Servo driver software subversion number" Remark="" />
    <d02.12 Name="FPGA software major version" Remark="" />
    <d02.13 Name="FPGA software sub-version" Remark="" />
  </d02>
</FuncGroup>