Group P8 Enhanced Function .............................................................................. 117
Group P9 Fault and Protection ........................................................................... 126
Group PA PID Function ....................................................................................... 134
Group PB Wobble Frequency, Fixed Length, Counting ...................................... 140
Group PC Multi-step Command and Simple PLC Function ................................ 143
Group PD Communication Parameters ............................................................... 148
Group PP Function Code Management .............................................................. 148
Group A0 Torque Control Parameters ................................................................. 150
Group A2 Motor 2 Parameters ............................................................................ 152
Group U0 Monitoring Parameters ....................................................................... 158
Chapter 7 EMC (Electromagnetic Compatibility) .................................................... 165
7.1 Definition ....................................................................................................... 165
7.2 EMC Standard Description ............................................................................ 165
7.3 EMC Guide ................................................................................................... 165
Chapter 8 Trouble Shooting ..................................................................................... 168
8.1 Fault and Trouble Shooting ........................................................................... 168
8.2 Common Faults and Solutions ...................................................................... 175
Chapter 9 MODBUS Communication Protocol ....................................................... 176
9.1 About Protocol .............................................................................................. 176
9.2 Application Method ........................................................................................ 176
9.3 Bus Structure ................................................................................................ 176
9.4 Protocol Description ...................................................................................... 176
9.5 Communication Data Structure ..................................................................... 177
9.6 Command Code and Communication Data Description ................................ 177
9.7 PD Group Communication Parameter Description........................................ 184
Chapter 10 Extension Card ...................................................................................... 186
10.1 Injection Card .............................................................................................. 186
10.2 PG Card ...................................................................................................... 187
10.3 I/O Extension Card ...................................................................................... 189
10.4 Communication Extension Card .................................................................. 190
