<?xml version="1.0" encoding="utf-8"?>
<SpecialFunCode UniqueId="0" Model="Device1">
  <!--伺服状态监控部分-->
  <MonitorControl>
    <ReadStatus>
      <RunInfo>
        <Par Name="The servo is not ready" />
        <Par Name="The servo is ready" />
        <Par Name="The servo is in normal operation state" />
        <Par Name="The servo is in faulty state" />
      </RunInfo>
      <ErrorInfo Name="Selected times fault code" />
    </ReadStatus>
    <WriteCmd />
  </MonitorControl>
  <!--监控D00组状态参数部分-->
  <MonitorState>
    <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="Number of position deviations (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="Voltage after AI1 processing" Remark="" />
    <d00.24 Name="AI2 sampling voltage value" Remark="" />
    <d00.25 Name="Voltage after AI2 processing" Remark="" />
    <d00.26 Name="AO1 output voltage" Remark="" />
    <d00.27 Name="AO2 output voltage" Remark="" />
    <d00.31 Name="Absolute encoder extended/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="Motor average load 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="" />
  </MonitorState>
  <!--监控D01组故障参数部分-->
  <MonitorFault>
    <d01.00 Name="Fault record selection" Remark="" />
    <d01.01 Name="Selected times fault code" 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="FPGA absolute encoder fault information st selected fault" Remark="" />
  </MonitorFault>
  <!--故障码与故障名映射-->
  <ErrorInfo>
    <Error id="0" ErrCode="001.0" ErrName="Software overcurrent" />
    <Error id="1" ErrCode="002.0" ErrName="Hardware overcurrent" />
    <Error id="2" ErrCode="002.1" ErrName="U-phase hardware overcurrent" />
    <Error id="3" ErrCode="002.2" ErrName="V-phase hardware overcurrent" />
    <Error id="4" ErrCode="002.3" ErrName="W-phase hardware overcurrent" />
    <Error id="5" ErrCode="004.0" ErrName="Bus overvoltage" />
    <Error id="6" ErrCode="005.0" ErrName="Input phase loss" />
    <Error id="7" ErrCode="006.0" ErrName="Output phase loss" />
    <Error id="8" ErrCode="007.0" ErrName="Current detection circuit fault" />
    <Error id="9" ErrCode="009.0" ErrName="Output short circuit to ground" />
    <Error id="10" ErrCode="009.1" ErrName="Output short circuit to ground" />
    <Error id="11" ErrCode="011.2" ErrName="Motor overload" />
    <Error id="12" ErrCode="011.0" ErrName="Motor overload" />
    <Error id="13" ErrCode="011.1" ErrName="Motor overload" />
    <Error id="14" ErrCode="012.0" ErrName="Driver overheat fault" />
    <Error id="15" ErrCode="013.0" ErrName="Driver speed abnormal" />
    <Error id="16" ErrCode="014.0" ErrName="Motor stall overheating alarm" />
    <Error id="17" ErrCode="015.0" ErrName="Motor overspeed fault" />
    <Error id="18" ErrCode="016.0" ErrName="Motor out of tolerance fault" />
    <Error id="19" ErrCode="016.1" ErrName="Motor out of tolerance fault caused by torque limitation" />
    <Error id="20" ErrCode="018.0" ErrName="Encoder communication timeout fault" />
    <Error id="21" ErrCode="023.0" ErrName="Electronic gear ratio setting overrun fault" />
    <Error id="22" ErrCode="023.1" ErrName="Group 1 electronic gear setting overrun fault" />
    <Error id="23" ErrCode="023.2" ErrName="Group 2 electronic gear setting overrun fault" />
    <Error id="24" ErrCode="025.0" ErrName="Write parameter storage fault" />
    <Error id="25" ErrCode="025.1" ErrName="Read parameter storage fault" />
    <Error id="26" ErrCode="025.2" ErrName="Frequent parameter storage fault" />
    <Error id="27" ErrCode="026.0" ErrName="Brake unit fault" />
    <Error id="28" ErrCode="026.1" ErrName="Braking resistor overcurrent fault" />
    <Error id="29" ErrCode="026.2" ErrName="Long-term braking fault" />
    <Error id="30" ErrCode="026.3" ErrName="Braking resistor overload fault" />
    <Error id="31" ErrCode="026.4" ErrName="External braking resistor is too small" />
    <Error id="32" ErrCode="028.5" ErrName="Motor and drive current mismatch fault" />
    <Error id="33" ErrCode="028.0" ErrName="Parameter setting failure (no corresponding encoder)" />
    <Error id="34" ErrCode="028.1" ErrName="Parameter setting fault (no corresponding motor)" />
    <Error id="35" ErrCode="028.4" ErrName="Parameter setting fault (no corresponding driver)" />
    <Error id="36" ErrCode="029.0" ErrName="Position command input error" />
    <Error id="37" ErrCode="032.0" ErrName="DI terminal duplicate assignment" />
    <Error id="38" ErrCode="033.0" ErrName="DO function assignment fault" />
    <Error id="39" ErrCode="050.0" ErrName="MCU access FPGA interval timeout fault" />
    <Error id="40" ErrCode="051.0" ErrName="System configuration fault" />
    <Error id="41" ErrCode="052.0" ErrName="FPGA version abnormal fault" />
    <Error id="42" ErrCode="053.0" ErrName="FPGA triggers interrupt exception" />
    <Error id="43" ErrCode="053.1" ErrName="MCU interrupt run timeout fault" />
    <Error id="44" ErrCode="054.0" ErrName="Abnormal system parameters, non-resettable fault" />
    <Error id="45" ErrCode="054.1" ErrName="Function parameters are abnormal after system initialization" />
    <Error id="46" ErrCode="055.1" ErrName="Power on again to change parameter warning" />
    <Error id="47" ErrCode="055.0" ErrName="The parameter takes effect after power on again fault" />
    <Error id="48" ErrCode="057.0" ErrName="Current sampling timeout fault" />
    <Error id="49" ErrCode="057.1" ErrName="MCU command update timeout fault" />
    <Error id="50" ErrCode="057.3" ErrName="FPGA operation timeout fault" />
    <Error id="51" ErrCode="060.0" ErrName="The encoder battery is faulty" />
    <Error id="52" ErrCode="062.0" ErrName="Encoder multi-turn count overflow fault" />
    <Error id="53" ErrCode="065.0" ErrName="Encoder parameter abnormal fault" />
    <Error id="54" ErrCode="069.0" ErrName="Encoder battery low fault" />
    <Error id="55" ErrCode="070.0" ErrName="Communication fault on the TX side of the encoder" />
    <Error id="56" ErrCode="070.1" ErrName="Communication fault on the RX side of the encoder" />
    <Error id="57" ErrCode="080.0" ErrName="Three phase wiring fault" />
    <Error id="58" ErrCode="083.0" ErrName="Angle recognition timeout fault" />
    <Error id="59" ErrCode="088.0" ErrName="Servo enable command invalid fault" />
    <Error id="60" ErrCode="094.0" ErrName="Frequency division output overspeed fault" />
    <Error id="61" ErrCode="094.1" ErrName="Frequency division pulse output setting warning" />
    <Error id="62" ErrCode="102.0" ErrName="Forward overtravel warning" />
    <Error id="63" ErrCode="103.0" ErrName="Reverse overtravel warning" />
    <Error id="64" ErrCode="104.0" ErrName="Homing timeout warning" />
    <Error id="65" ErrCode="104.6" ErrName="The servo is in the power generation state for a long time after being powered on" />
    <Error id="66" ErrCode="105.0" ErrName="Excessive position deviation fault" />
    <Error id="67" ErrCode="110.0" ErrName="Emergency stop prompt" />
  </ErrorInfo>
  <!--示波器特殊功能码-->
  <OscInfo>
    <Channel>
      <Par Num="X03.00" Name="Torque command" />
      <Par Num="X03.01" Name="Current feedback" />
      <Par Num="X03.02" Name="d-axis current feedback" />
      <Par Num="X03.03" Name="U-phase feedback current" />
      <Par Num="X03.04" Name="V-phase feedback current" />
      <Par Num="X03.05" Name="W-phase feedback current" />
      <Par Num="X03.06" Name="Bus voltage" />
      <Par Num="X03.07" Name="Speed command" />
      <Par Num="X03.08" Name="Speed feedback" />
      <Par Num="X03.09" Name="Speed feedback filtering" />
      <Par Num="X03.10" Name="Speed value measured by speed M method" />
      <Par Num="X03.11" Name="Position command" />
      <Par Num="X03.12" Name="Position feedback" />
      <Par Num="X03.13" Name="Position follow-up error" />
      <Par Num="X03.14" Name="Follow-up deviation of position command unit" />
      <Par Num="X03.15" Name="Position command absolute value (FPGA)" />
      <Par Num="X03.16" Name="Real-time input command pulse counter" />
      <Par Num="X03.17" Name="Position feedback absolute value (FPGA)" />
      <Par Num="X03.18" Name="Bus-coded feedback single-turn position" />
      <Par Num="X03.19" Name="Input command pulse counter" />
      <Par Num="X03.20" Name="Current absolute position" />
      <Par Num="X03.21" Name="Bus encoder multi-turn data" />
      <Par Num="X03.22" Name="DI" />
      <Par Num="X03.23" Name="DO" />
      <Par Num="X03.24" Name="Mixed control of pulse deviation" />
      <Par Num="X03.25" Name="Average load rate" />
      <Par Num="X03.26" Name="Scheduling time for torque loop interruption" />
      <Par Num="X03.27" Name="Scheduling time of position loop soft interruption" />
      <Par Num="X03.28" Name="Scheduling time of main loop interrupt program" />
      <Par Num="X03.29" Name="Execution time of torque loop interrupt program" />
      <Par Num="X03.30" Name="Execution time of position loop interrupt program" />
      <Par Num="X03.31" Name="Execution time of main loop interrupt program" />
    </Channel>
  </OscInfo>
</SpecialFunCode>