<?xml version="1.0" encoding="UTF-8"?>
<SystemConfig Machine="516">
  <MontorConfigInfo>
    <d00.C.PU>
      <Display_serial_number>d00.C.PU</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sum of position command pulses</Show_items>
      <Unit>Command unit</Unit>
      <Correspondence_address>0x0834</Correspondence_address>
      <Description>This parameter can monitor the number of pulses sent by the user to the servo driver to confirm whether there is pulse loss.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d00.C.PU>
    <d01.F.PU>
      <Display_serial_number>d01.F.PU</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sum of position feedback pulses</Show_items>
      <Unit>Command unit</Unit>
      <Correspondence_address>0x0836</Correspondence_address>
      <Description>This parameter can monitor the number of pulses fed back by the servo motor. The unit is consistent with the instruction unit entered by the user.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d01.F.PU>
    <d02.E.PU>
      <Display_serial_number>d02.E.PU</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Number of position deviation pulses</Show_items>
      <Unit>Command unit</Unit>
      <Correspondence_address>0x0838</Correspondence_address>
      <Description>This parameter can monitor the number of position lag pulses during the operation of the servo system. The unit is consistent with the instruction unit entered by the user.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d02.E.PU>
    <d03.C.PE>
      <Display_serial_number>d03.C.PE</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sum of position given pulse/gantry motor feedback pulse</Show_items>
      <Unit>Encoder unit</Unit>
      <Correspondence_address>0x083A</Correspondence_address>
      <Description>This parameter can monitor the number of pulses sent by the user to the servo driver.
Unit: 8388608 per cycle when absolute value motor is used.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d03.C.PE>
    <d04.F.PE>
      <Display_serial_number>d04.F.PE</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sum of position feedback pulses</Show_items>
      <Unit>Encoder unit</Unit>
      <Correspondence_address>0x083C</Correspondence_address>
      <Description>This parameter can monitor the number of pulses fed back by the servo motor.
Unit: 8388608 per cycle when absolute value motor is used.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d04.F.PE>
    <d05.E.PE>
      <Display_serial_number>d05.E.PE</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Number of position deviation pulses/gantry pulse deviation</Show_items>
      <Unit>Encoder unit</Unit>
      <Correspondence_address>0x083E</Correspondence_address>
      <Description>This parameter can monitor the number of position lag pulses during the operation of the servo system.
Unit: 8388608 for each cycle when absolute value motor is used.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d05.E.PE>
    <d06.C.Fr>
      <Display_serial_number>d06.C.Fr</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Pulse command input frequency</Show_items>
      <Unit>KHz</Unit>
      <Correspondence_address>0x0840</Correspondence_address>
      <Description>This parameter monitors the external pulse command input frequency.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>1</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d06.C.Fr>
    <d07.C.SP>
      <Display_serial_number>d07.C.SP</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Speed control command</Show_items>
      <Unit>rpm</Unit>
      <Correspondence_address>0x0841</Correspondence_address>
      <Description>This parameter can monitor the servo given speed when the servo motor is running.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d07.C.SP>
    <d08.F.SP>
      <Display_serial_number>d08.F.SP</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Motor speed</Show_items>
      <Unit>rpm</Unit>
      <Correspondence_address>0x0842</Correspondence_address>
      <Description>This parameter can monitor the actual speed of the servo motor when it is running.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d08.F.SP>
    <d09.C.tQ>
      <Display_serial_number>d09.C.tQ</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Torque command</Show_items>
      <Unit>％</Unit>
      <Correspondence_address>0x0843</Correspondence_address>
      <Description>This parameter can monitor the servo given torque when the servo motor is running.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d09.C.tQ>
    <d10.F.tQ>
      <Display_serial_number>d10.F.tQ</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Actual torque</Show_items>
      <Unit>％</Unit>
      <Correspondence_address>0x0844</Correspondence_address>
      <Description>This parameter can monitor the feedback torque when the servo motor is running.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d10.F.tQ>
    <d11.AG.L>
      <Display_serial_number>d11.AG.L</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Average torque</Show_items>
      <Unit>%</Unit>
      <Correspondence_address>0x0845</Correspondence_address>
      <Description>This parameter can monitor the average torque of the servo motor in the past 10 seconds.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d11.AG.L>
    <d12.PE.L>
      <Display_serial_number>d12.PE.L</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Peak torque</Show_items>
      <Unit>％</Unit>
      <Correspondence_address>0x0846</Correspondence_address>
      <Description>This parameter can monitor the peak torque of the servo motor after power on.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d12.PE.L>
    <d13.oL>
      <Display_serial_number>d13.oL</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Cumulative load rate</Show_items>
      <Unit>％</Unit>
      <Correspondence_address>0x0847</Correspondence_address>
      <Description>This parameter can monitor the load rate of the drive. When it exceeds 100,the drive will alarm overload.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d13.oL>
    <d14.rG>
      <Display_serial_number>d14.rG</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Regeneration load rate</Show_items>
      <Unit>％</Unit>
      <Correspondence_address>0x0848</Correspondence_address>
      <Description>This parameter can monitor the load rate of regeneration resistor. When it exceeds 100,the driver will alarm regeneration overload.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d14.rG>
    <d15.PE.S>
      <Display_serial_number>d15.PE.S</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Actual speed peak</Show_items>
      <Unit>rpm</Unit>
      <Correspondence_address>0x0849</Correspondence_address>
      <Description>---</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d15.PE.S>
    <d16.I.Io>
      <Display_serial_number>d16.I.Io</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Input IO status</Show_items>
      <Unit>Binary</Unit>
      <Correspondence_address>0x084A</Correspondence_address>
      <Description>This parameter can monitor the input port status of CN1. The upper vertical bar represents high level (optocoupler cut-off),and the lower vertical bar represents low level optocoupler conduction). The corresponding relationship with the input port is that the vertical bars of the operation panel from right to left correspond to DI1-DI6 respectively.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d16.I.Io>
    <d17.o.Io>
      <Display_serial_number>d17.o.Io</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Output IO status</Show_items>
      <Unit>Binary</Unit>
      <Correspondence_address>0x084B</Correspondence_address>
      <Description>This parameter can monitor the output port status of CN1. The upper vertical bar represents the conduction of the optocoupler,and the lower vertical bar represents the cutoff of the optocoupler. The corresponding relationship with the output port is that the five vertical bars from the right to the left of the operation panel correspond to DO1-DO4 respectively.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d17.o.Io>
    <d18.AnG>
      <Display_serial_number>d18.AnG</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Mechanical angle</Show_items>
      <Unit>0.1°</Unit>
      <Correspondence_address>0x084C</Correspondence_address>
      <Description>This parameter can monitor the mechanical angle of the motor,and the rotation is 360 degrees.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>1</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d18.AnG>
    <d19.HAL>
      <Display_serial_number>d19.HAL</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Electrical angle</Show_items>
      <Unit>0.1°</Unit>
      <Correspondence_address>0x084D</Correspondence_address>
      <Description>Phase sequence position of incremental encoder motor
Electrical angle of absolute encoder.</Description>
      <Symbol>true</Symbol>
      <Decimal_places>1</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d19.HAL>
    <d20.ASS>
      <Display_serial_number>d20.ASS</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Single-turn value of absolute encoder</Show_items>
      <Unit>decimal system</Unit>
      <Correspondence_address>0x084E</Correspondence_address>
      <Description>This parameter can monitor the feedback value of the absolute encoder,and the value changes between 0-8388607 after one revolution.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d20.ASS>
    <d21.ASH>
      <Display_serial_number>d21.ASH</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Multi-turn value of absolute encoder</Show_items>
      <Unit>decimal system</Unit>
      <Correspondence_address>0x0850</Correspondence_address>
      <Description>This parameter can monitor the number of rotation turns of the multi turn absolute encoder motor.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d21.ASH>
    <d22.J-L>
      <Display_serial_number>d22.J-L</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Inertia ratio</Show_items>
      <Unit>%</Unit>
      <Correspondence_address>0x0851</Correspondence_address>
      <Description>This parameter can monitor the real-time inertia of the load carried by the motor.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d22.J-L>
    <d23.dcp>
      <Display_serial_number>d23.dcp</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Main circuit voltage (DC value)</Show_items>
      <Unit>V</Unit>
      <Correspondence_address>0x0852</Correspondence_address>
      <Description>This parameter can monitor the voltage value of the main circuit.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d23.dcp>
    <d24.Ath>
      <Display_serial_number>d24.Ath</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Drive temperature</Show_items>
      <Unit>centigrade</Unit>
      <Correspondence_address>0x0853</Correspondence_address>
      <Description>This parameter monitors the drive temperature.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d24.Ath>
    <d25.tiE>
      <Display_serial_number>d25.tiE</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Cumulative running time</Show_items>
      <Unit>s</Unit>
      <Correspondence_address>0x0854</Correspondence_address>
      <Description>This parameter can monitor the drive running time in seconds.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d25.tiE>
    <d26.1.Fr>
      <Display_serial_number>d26.1.Fr</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Resonance frequency 1</Show_items>
      <Unit>Hz</Unit>
      <Correspondence_address>0x0856</Correspondence_address>
      <Description>This parameter can monitor resonance frequency 1 and high frequency resonance frequency.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d26.1.Fr>
    <d28.2.Fr>
      <Display_serial_number>d28.2.Fr</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Resonance frequency 2</Show_items>
      <Unit>Hz</Unit>
      <Correspondence_address>0x0858</Correspondence_address>
      <Description>This parameter can monitor resonance frequency 2,low frequency resonance frequency.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>1</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d28.2.Fr>
    <d29.cn>
      <Display_serial_number>d29.cn</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Current control mode</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x0859</Correspondence_address>
      <Description>This parameter can monitor the current control mode.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d29.cn>
    <d30.Ai1>
      <Display_serial_number>d30.Ai1</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Input voltage of analog quantity command 1 (V_REF)</Show_items>
      <Unit>0.001V</Unit>
      <Correspondence_address>0x085A</Correspondence_address>
      <Description>This parameter can monitor the analog command (V-REF) input voltage value of the speed loop.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>3</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d30.Ai1>
    <d31.Ai2>
      <Display_serial_number>d31.Ai2</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Input voltage of analog quantity command 2 (T_REF)</Show_items>
      <Unit>0.001V</Unit>
      <Correspondence_address>0x085B</Correspondence_address>
      <Description>This parameter can monitor the analog command (T-REF) input voltage value of the torque loop.</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>3</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d31.Ai2>
    <d32.c.Er>
      <Display_serial_number>d32.c.Er</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Number of encoder communication exceptions</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x085C</Correspondence_address>
      <Description>This parameter can monitor the number of encoder communication exceptions after power on.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d32.c.Er>
    <d33.H>
      <Display_serial_number>d33.H</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Hardware model (hardware information)</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x085D</Correspondence_address>
      <Description>This parameter can monitor the drive model (hardware information).</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d33.H>
    <d34.H1>
      <Display_serial_number>d34.H1</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Hardware version</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x085E</Correspondence_address>
      <Description>This parameter can monitor the hardware version number.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d34.H1>
    <d35.S1>
      <Display_serial_number>d35.S1</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Software version</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x085F</Correspondence_address>
      <Description>This parameter can monitor the software version.
High 8 bits: FPGA version. Low bit: ARM version.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d35.S1>
    <d36.C.PU>
      <Display_serial_number>d36.C.PU</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sum of position command pulses</Show_items>
      <Unit>Command unit</Unit>
      <Correspondence_address>0x0860</Correspondence_address>
      <Description>This parameter can monitor the sum of position command pulses (accumulated after power on).</Description>
      <Symbol>true</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d36.C.PU>
    <d37.F.PU>
      <Display_serial_number>d37.F.PU</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sum of position feedback pulses</Show_items>
      <Unit>Command unit</Unit>
      <Correspondence_address>0x0862</Correspondence_address>
      <Description>This parameter can monitor the sum of position feedback pulses (accumulated after power on).</Description>
      <Symbol>TRUE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>TRUE</High_16-bit_byte>
    </d37.F.PU>
    <d38.P.Er>
      <Display_serial_number>d38.P.Er</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Parameter number with abnormal value</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x0864</Correspondence_address>
      <Description>This parameter can be used to query the abnormal parameter number when the alarm is 107.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d38.P.Er>
    <d39.Adu>
      <Display_serial_number>d39.Adu</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Advanced function exception code</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x0865</Correspondence_address>
      <Description>This parameter can query the warning code when the advanced function is abnormal.</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d39.Adu>
    <d40.EC.1>
      <Display_serial_number>d40.EC.1</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Servo drive status</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x0869</Correspondence_address>
      <Description>---</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d40.EC.1>
    <d41.EC.2>
      <Display_serial_number>d41.EC.2</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Ethercat communication status</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x086A</Correspondence_address>
      <Description>---</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d41.EC.2>
    <d42.EC.3>
      <Display_serial_number>d42.EC.3</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Ethercat interface status</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x086B</Correspondence_address>
      <Description>---</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d42.EC.3>
    <d43.EC.4>
      <Display_serial_number>d43.EC.4</Display_serial_number>
      <Monitoring_value>0</Monitoring_value>
      <Show_items>Sync0 cycle</Show_items>
      <Unit>---</Unit>
      <Correspondence_address>0x086C</Correspondence_address>
      <Description>---</Description>
      <Symbol>FALSE</Symbol>
      <Decimal_places>0</Decimal_places>
      <High_16-bit_byte>FALSE</High_16-bit_byte>
    </d43.EC.4>
  </MontorConfigInfo>
</SystemConfig>