<?xml version="1.0" encoding="utf-8"?>
<!--This is FunctionCode Struct-->
<root> 
	<ServoSet>
		
		<Alarm>
			 <FaultRecordMaxNum Num="d01.00"  />
             <FaultCode Num="d01.01" />
		</Alarm>

		<Run>
			<JogSpdSet Num="F0E.03" />
	   </Run>
		
		<GeneralSet>
             <ServoEnableMode Num="F00.03" />

             <MaxSpeed Num="F00.01" />

             <MaxTorque Num="F00.02" />
			
			 <RotateDir Num="F00.04" />
		 </GeneralSet>
	
		<CmdSource>
			 <PosCmdSrc Num="F06.00"  />

			 <ExPulCmdForm Num="F06.01"  />	

			 <InputPluse Num="F06.35" />
         
		</CmdSource>

        <!--电流环功能-->
		<CurrentLoop>
             <Kp Num="F04.30" />

             <Ki Num="F04.31" />

              <GainKp1_q Num="F04.32"/>

             <GainKi1_q Num="F04.33" />

             <ScalingFactor_d Num="F04.48" />

             <ScalingFactor_q Num="F04.49" />

		</CurrentLoop>

		<Filter>
			
			  <InFilterTime Num="F06.02" />

			  <SmFilterTime Num="F06.03" />

			  <TAcc Num="F07.04" />
    
			  <TDec Num="F07.05" />

			  <TSL Num="F07.06" />

			  <CurveChoose Num="F07.03" />
		</Filter>

		<Gear>
			 <GearRatioM1 Num="F06.08" />

			 <GearRatioD1 Num="F06.10" />

           <GearRatioM2 Num="F06.12" />


           <GearRatioD2 Num="F06.14" />

           <SwitchCondition Num="F06.16" />

            <FeedPulseNum Num="F06.06" />

			<SetPulseNum Num="F06.04"  />
		</Gear>
        
        <!--陷波器功能，暂时没有用上20220422-->
		<Notch>

			<ThresholdSet Name="F05.09"/>
			<FuncSel Name="F05.10" />
			<Freq1 Name="F05.11" />
			<Depth1 Name="F05.12" />
			<Width1 Name="F05.13" />
			<Freq2 Name="F05.14"/>
			<Depth2 Name="F05.15" />
			<Width2 Name="F05.16" />
		</Notch>

        <!--位置环功能-->
		<PositionLoop>
			
            <Kp1 Num="F04.20" />

            <Kp2 Num="F04.21" />

          <SignalSource Num="F04.24" />
	      <Gain Num="F04.25" />

		 <FilterTime Num="F04.26" />

		</PositionLoop>

        <!--速度环功能-->
		<SpeedLoop>

		   <Kp1 Num="F04.00" />
           <Ki1 Num="F04.01" />
           <Kp2 Num="F04.02" />
           <Ki2 Num="F04.03"  />
           <Gain Num="F04.10" />
           <FilterTime Num="F04.11"  />
          <SwitchCondition Num="F04.06"  />
          <LoadRatio Num="F05.02" />
		</SpeedLoop>

	</ServoSet>
</root>