Servotronix CDHD2 User manual

CDHD2 Servo Drive
Operator Panel (HMI)
Revision: 1.0
Firmware Version 2.15.x

CDHD2
Operator Panel (HMI) 3
Copyright Notice
© 2018 Servotronix Motion Control Ltd.
All rights reserved. No part of this work may be reproduced or transmitted in any form or by
any means without prior written permission of Servotronix Motion Control Ltd.
Disclaimer
This product documentation was accurate and reliable at the time of its release. Servotronix
Motion Control Ltd. reserves the right to change the specifications of the product described
in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners.
Contact Information
Servotronix Motion Control Ltd.
21C Yagia Kapayim Street
Petach Tikva 49130, Israel
Tel: [phone]
Fax: [phone]
Website: www.servotronix.com
Technical Support
If you need assistance with the installation and configuration of the CDHD2 drive, contact
Servotronix technical support: [e-mail]

CDHD2
4 Operator Panel (HMI)

CDHD2
Operator Panel (HMI) 5
Contents
1Operator Panel (HMI) Overview ________________________________________________ 7
2Operator Panel – Parameter Mode ____________________________________________ 12
3Operator Panel – Command Mode ____________________________________________ 23
4Operator Panel – Monitoring Mode___________________________________________ 32
5Operator Panel – Faults & Info Mode _________________________________________ 39

CDHD2
6 Operator Panel (HMI)

CDHD2
Operator Panel (HMI) 7
1Operator Panel (HMI) Overview
The CDHD2 operator panel is an HMI (human-machine interface) that allows you to monitor
and edit parameter values, execute commands, and perform drive diagnostics and
troubleshooting.
While COMMODE 0 is in effect, the drive can be fully controlled (enabled, motor movement,
parameter modification) by both the operator panel and ServoStudio. Neither the operator
panel nor ServoStudio takes precedence.
Functions performed in the operator panel and in ServoStudio are recognized by each other,
but modifications to certain values, states and mode are not automatically displayed in the
other. Changes made from the panel might not appear in a ServoStudio task screen until the
screen in refreshed (exited and reopened).
When COMMODE 1 is in effect, the drive cannot be enabled and the motor cannot be moved
through the operator panel or ServoStudio. The operator panel can only be used to
manipulate parameters that do not interfere with fieldbus operation. If you attempt to set a
parameter that interferes with fieldbus operation, the drive will issue an error code in the
operator panel and/or an error message in ServoStudio.
The operator panel has a 5-digit 7-segment LED display, and four control keys.
Digit 5 DP5 Digit 4 DP4 Digit 3 DP3 Digit 2 DP2 Digit 1 DP1
Figure 1-1. Five Digit 7-Segment Display and Keypad

CDHD2
8 Operator Panel (HMI)
Table 1-2. Operator Panel Control Keys
Key
Name
Function
Mode

Switches to next panel display mode (Status >
Parameter > Command > Monitor > Fault >
Status).
While editing, cancels the edited value and returns
to mode menu.
Shift | Enter

Moves the cursor one digit to the left.
Press short: Shows the value of the currently
selected parameter, and enables editing and
setting of the parameter value.
Press long: Applies parameter number or value
Up
Parameter:
Press once: Navigates up to next parameter.
Press continuously: Quickly scrolls through
ascending parameter indices. Speed of scrolling
increases the longer the key is pressed.
Value:

Increases value by one increment
Down
Parameter:
Press once: Navigates down to next parameter.
Press continuously: Quickly scrolls through
descending parameter indices. Speed of scrolling
increases the longer the key is pressed.
Value:

Decreases value by one increment
Mode

Scrolls to next panel display mode.
While editing, cancels the edited value and moves
to next panel mode.
Shift + Mode
Long press (>0.5 second)
Applies parameter value and executes CONFIG.
>> done
Shift + Mode
Very long press (>2 seconds)
Executes CONFIG after one second, then executes
SAVE after two seconds.
>> done

CDHD2
Operator Panel (HMI) 9
Operator Panel Modes
Use the Mode button to scroll through the five digital display modes.
The operator panel has five modes.
Table 1-3. Operator Panel Modes
Status (S)
S
Mode for displaying drive status, operating mode, warnings and
motor movement.
Refer to Operator Panel – Status Mode.
Also refer to Digital Display – Warning Codes in the CDHD2 User
Manual.
Parameters
P
Mode for reading and writing values of drive parameters.
Refer to the VarCom Reference Manual.
Command
C
Mode for executing drive commands.
Refer to Operator Panel – Command Mode.
Monitoring
d
Mode for displaying drive and system variables, such as actual
speed, position, input and output states.
Refer to Operator Panel – Monitoring Mode.
Faults & Info
F
Mode for displaying fault codes and system information.
Refer to Operator Panel – Faults & Info Mode.
The drive remembers the last selected setting or value in each mode.
If one or more faults occurs while in Status, Commands or Monitoring mode, the digital
display automatically switches to Faults mode, and the most recent fault number is displayed.
To resume working, a different display mode must be selected.
While in Parameters mode, an incorrect value will cause an error code to be displayed, but
the digital display will not switch modes.
Operator Panel – Status Mode
The Status mode is indicated by the character Sin digit 5.
In Status mode, the digital display indicates the state of the drive, the drive operating mode,
drive enabled/disabled status, warnings, and motor movement.
The drive always powers up in Status mode, and indicating the operating mode in effect.
While the operating mode is displayed, DP1 is lit if the drive is enabled; DP1 is off if the drive
is disabled.

CDHD2
10 Operator Panel (HMI)
HMI Status Codes
Status codes are shown in the table below. Also refer to Digital Display – Warning Codes in
the CDHD2 User Manual.
Table 1-4. Digital Display Status Codes
Digit or DP
Display
Description
DP 1
.
Drive enabled
.
Drive disabled
Digits 1 and 2
Operating mode, depending on COMMODE.
If COMMODE 0: Analog/P&D/Serial (OPMODE)
00
0 = Velocity control, using serial commands
01
1 = Velocity control, using analog input
02
2 = Current control, using serial commands
03
3 = Current control, using analog input
04
4 = Position control, using gearing input
08
8 = Position control, using serial commands
If COMMODE 1: (Object 6061)
PP
1 = Profile Position mode
PS
3 = Profile Velocity mode
Pt
4 = Profile Torque mode
HH
6 = Homing mode
SP
8 = Cyclic Synchronous Position mode
SS
9 = Cyclic Synchronous Velocity mode
St
10 = Cyclic Synchronous Torque mode
DP 2
.
EtherCAT/CANopen OP mode active
.
EtherCAT/CANopen INIT mode
Digit 3
r
Motor is moving
.
Motor is not moving
Digit 4
#
First character of a warning code.
.
No faults or warnings
Digit 5
S
Status mode.
Displays the codes shown in this table.
P
Parameter mode.
Refer to Operator Panel – Parameter Mode
and to the VarCom Reference Manual.
C
Command mode.
Refer to Operator Panel – Command Mode.
d
Monitoring mode.
Refer to Operator Panel – Monitoring Mode.
F
Faults & Information mode
Refer to Operator Panel – Faults & Info Mode.

CDHD2
Operator Panel (HMI) 11
HMI Special Status Codes
Power Up
During power up, the digital display shows 5 dashes.
This code is also displayed when the Ember switch is activated, which sets the drive to serial
communication Boot-Up mode.
Ember Mode
During the firmware update process, the digital display shows:

CDHD2
12 Operator Panel (HMI)
2Operator Panel – Parameter Mode
The Parameter mode is indicated by the character Pin digit 5.
In Parameter mode, the digital display shows the value of drive parameters, and the panel is
used to edit the values of drive parameters.
done indicates that a parameter has been set.
In Parameter mode, DP5 is lit to indicate the parameter is read only; for example, the value of
Analog Output (P4219):
When editing in Parameter mode, an invalid value will cause an error message code to be
displayed. (The panel does not switch to Fault mode.)
Error messages resulting from parameter manipulation are indicated by E followed by a two
or three digit error code. Refer to Error Messages in the CDHD2 User Manual.
If CONFIG is required after a parameter value is entered, the display will flash.
CONFIG can be issued by a long press on Shift + Mode keys, or by command C0005, or
through the ServoStudio interface.
Setting a Parameter - Example
Code
P0018
Parameter
Motor Direction
VarCom
DIR
Sequence
Press: Mode
Select: (up/down) Parameter mode
Display: P0000
Select: (up/down) P0018
Press: Shift
Display: 00000, flashing digit
Select: (up/down) parameter value; for example: 3
Display: 00003, flashing 3
Press: Long Shift + Mode (0.5 second) to apply value and execute
CONFIG.
or Press: Very Long Shift + Mode (2 seconds) for CONFIG and SAVE.
Done: done

CDHD2
Operator Panel (HMI) 13
HMI Parameter Value Manipulation
The digital display can present parameter values up to ±9,223,372,036,854,775,807.000
The first string is displayed by default. To view the second, third and fourth strings, press the
Shift key repeatedly, until the display shows the next string.
The string can be recognized by the DPs that are lit:
DP1: first string (integer value)
DP1 + DP4: first string (value with 3 decimal places)
DP1 + DP2: second string
DP1 + DP2+ DP3: third string
DP1 + DP2+ DP3 + DP4: fourth string
First string
integers up to 99999
Second string
numerals in values up to
9,999,999.xxx
Third string
numerals in values up to
999,999,999,999.xxx
Fourth string
numerals in values up to
99,999,999,999,999,999.xxx
or values up to 99.999
Note that the first string might show 00.000. while the value of the parameter is shown and
set in the second string; for example, if acceleration parameter (ACC/P0014) =
40000.000 [rpm/s]:
First string:
Shift to second string:
HMI Parameter Codes
Table 2-1. Parameter Groups
Parameter Group
Description
Basic - most frequently used
Starting at index 0000
Gains and Filters
Starting at index 1000
Shaping Filters
Starting at index 1100
Linear Loop Gains
Starting at index 1200

CDHD2
14 Operator Panel (HMI)
Parameter Group
Description
Current Loop Gains
Starting at index 1300
Feedback
Starting at index 2000
Secondary Feedback
Starting at index 2100
Motor
Starting at index 3000
Digital I/Os
Starting at index 4000
Analog I/Os
Starting at index 4100
Limits
Starting at index 5000
Communication/Fieldbus
Starting at index 6000
Drive Parameters and Foldback
Starting at index 7000
Emergency stop
Starting at index 7100
Homing
Starting at index 7200
Faults Modes and Thresholds
Starting at index 7300
Table 2-2. Parameter Codes
Parameter
Description
Code
Basic - most frequently used
Starting at index 0000
COMMODE
Communication Mode
P0000
OPMODE
Drive Operation Mode
P0001
GEARMODE
Gearing Operation Mode
P0002
ADDR
Drive Communication Address
P0003
XENCRES
External Encoder Resolution
P0004
GEARIN
Gear Ratio Numerator
P0005
GEAROUT
Gear Ratio Divider
P0006
ENCOUTRES
Encoder Simulation Line Resolution
P0007
ENCOUTMODE
Encoder Simulation Mode
P0008
ANIN1VSCALE
Analog Input 1 Velocity Scaling
P0009
ANIN1ISCALE
Analog Input 1 Current Scaling
P0010
ILIM
User Current Limit
P0011
VLIM
User Velocity Limit
P0012
VBUS
Bus Voltage (DC)
P0013
ACC
Acceleration
P0014
DEC
Deceleration
P0015
DISMODE
Disable Mode
P0016
DECSTOP
Active Disable Deceleration
P0017
DIR
Feedback Direction
P0018
MFBDIR
Motor and Feedback Direction
P0019
MPHASE
Commutation Offset
P0020
PFBOFFSET
Position Offset
P0021
UNITSROTPOS
Units Rotary Position
P0022

CDHD2
Operator Panel (HMI) 15
Parameter
Description
Code
UNITSROTACC
Units Rotary Acc/Dec
P0023
UNITSROTVEL
Units Rotary Velocity
P0024
UNITSLINPOS
Units Linear Position
P0025
UNITSLINACC
Units Linear Acc/Dec
P0026
UNITSLINVEL
Units Linear Velocity
P0027
Gains and Filters
Starting at index 1000
POSCONTROLMODE
Position Loop Controller Mode
P1000
VELCONTROLMODE
Velocity Loop Controller
P1001
KNLUSERGAIN
HD Global Gain
P1002
KNLD
HD Derivative Gain
P1003
KNLP
HD Proportional Gain
P1004
KNLIV
HD Derivative-Integral Gain
P1005
KNLI
HD Integral Gain
P1006
KNLAFRC
HD Acceleration Feedforward
P1007
NLPEAFF
HD Flexibility Compensation
P1008
NLAFFLPFHZ
HD Spring Filter
P1009
NLFILTT1
HD Current Filter Low Pass Rise Time
P1010
NLFILTDAMPING
HD Current Filter Damping
P1011
NLMAXGAIN
HD Maximum Adaptive Gain
P1012
NLNOTCHCENTER
HD Current Filter Notch Center
P1013
NLNOTCHBW
HD Current Filter Notch Bandwidth
P1014
NLNOTCH2CENTER
HD Current Filter 2nd Notch Center
P1015
NLANTIVIBSHARP
HD AV 1 Filter Sharpness
P1016
NLANTIVIBGAIN2
HD Anti-Vibration 2 Filter ? Gain
P1017
NLANTIVIBHZ2
HD AV 2 Filter Center Frequency
P1018
NLANTIVIBSHARP2
HD AV 2 Filter Sharpness
P1019
NLANTIVIBGAIN3
HD Anti-Vibration 3 Filter ? Gain
P1020
NLANTIVIBHZ3
HD AV 3 Filter Center Frequency
P1021
NLANTIVIBSHARP3
HD AV 3 Filter Sharpness
P1022
Shaping Filters
Starting at index 1100
MOVESMOOTHMODE
Position Command Smoothing Mode
P1100
MOVESMOOTHSRC
Position Command Smoothing Source
P1101
MOVESMOOTHAVG
Position Command Moving Avg Filter
P1102
MOVESMOOTHLPFHZ
Position Command Move Low Pass Filter
P1103
GEARFILTMODE
Gear Filter Mode
P1104
GEARFILTT1
Gear Filter Depth
P1105
GEARFILTT2
Gear Filter Vel and Acc Depth
P1106
GEARACCTHRESH
Gear Acceleration Threshold
P1107

CDHD2
16 Operator Panel (HMI)
Parameter
Description
Code
GEARFILTVELFF
Gear Filter Velocity Feedforward
P1108
GEARFILTAFF
Gear Filter Acceleration FF
P1109
Linear Loop Gains
Starting at index 1200
KVP
Velocity Proportional Gain
P1200
KVI
Velocity Integral Gain
P1201
KVFR
Velocity Feedforward Ratio
P1202
FILTMODE
Velocity Loop Output Filter Mode
P1203
FILTHZ1
Velocity Loop Output Filter Param 1
P1204
FILTHZ2
Velocity Loop Output Filter Param 2
P1205
VELFILTMODE
Velocity Filter Mode
P1206
KPP
Position Proportional Gain
P1207
KPI
Position Integral Gain
P1208
KPISATIN
Position Integral Saturation Input
P1209
KPISATOUT
Position Integral Saturation Output
P1210
KPD
Position Derivative Gain
P1211
KPE
Position Adaptive Proportional Gain
P1212
KPVFR
Position Velocity Feedforward
P1213
KPAFRC
Position Acc FF to Current Loop
P1214
KPAFRV
Position Acceleration Feedforward
P1215
Current Loop Gains
Starting at index 1300
KCP
Current KP Gain
P1300
KCI
Current KI Gain
P1301
KCD
Dead Time Compensation Min Level
P1302
KCFF
Current KFF Gain
P1303
KCBEMF
Current BEMF Compensation Gain
P1304
KCMODE
Current Loop Compatibility Mode
P1305
MLGAINP
Adaptive Gain at Peak Motor Current
P1307
MLGAINC
Adapt Gain at Continuous Motor Current
P1308
MTANGLC
Torque Angle at Motor Continuous Current
P1308
MTANGLP
Torque Angle at Motor Peak Current
P1309
FRICINEG
Friction Compens Negative Current
P1310
FRICIPOS
Friction Compens Positive Current
P1311
FRICNVHYST
Friction Compens Neg Vel Hysteresis
P1312
FRICPVHYST
Friction Compens Neg Vel Hysteresis
P1313
I
Motor Current
P1314
ICMD
Current Command
P1315
ID
Current D Axis
P1316
IFFLPFHZ
Current Feedforward Low Pass Filter
P1317

CDHD2
Operator Panel (HMI) 17
Parameter
Description
Code
IGRAV
Gravity Compensation
P1318
IMAX
Drive Current Limit
P1319
IQ
Current Q Axis
P1320
IU
Phase U Actual Current
P1321
IUOFFSET
Phase U Current Offset
P1322
IV
Phase V Actual Current
P1323
IVOFFSET
Phase V Current Offset
P1324
Feedback
Starting at index 2000
FEEDBACKTYPE
Feedback Type
P2000
MENCRES
Motor Encoder Resolution
P2001
MENCTYPE
Motor Encoder Type
P2002
MSININT
Motor Sine Interpolation
P2003
BISSCFIELDS (argument 1)
Multi-turn Data (bits)
P2004
BISSCFIELDS (argument 2)
Effective Multi-turn Data (bits)
P2005
BISSCFIELDS (argument 3)
Single Turn Data (bits)
P2006
BISSCFIELDS (argument 4)
Effective Single Turn Data (bits)
P2007
RESBW
Resolver Conversion Bandwidth
P2008
HALLSINV
Hall Signals Inversion
P2009
HALLSTYPE
Hall Signals Type
P2010
PHASEFINDMODE
Phase Find Mode
P2011
PHASEFINDI
Phase Find Current
P2012
PHASEFINDTIME
Phase Find Duration
P2013
PHASEFINDGAIN
Phase Find Gain
P2014
HALLSCOMMTHRESH
Halls-Only Commutation Source Switch
P2015
HALLSONLYCOMM
Halls-Only Commutation Source
P2016
HALLSFILTAFF
Halls-Only MSQ Filter Acc FF
P2017
HALLSFILTT1
Halls-Only MSQ Filter Depth
P2018
HALLSFILTT2
Halls-Only MSQ Filter Vel and Acc
P2019
HALLSFILTVELFF
Halls-Only MSQ Filter Velocity FF
P2020
HWPOS
Hardware Position
P2021
MECHANGLE
Motor Angle
P2023
MENCAQBFILT
Motor Encoder A/B Quadrature Filter
P2024
MENCZPOS
Motor Encoder Index Position
P2025
MFBMODE
Motor Feedback Mode
P2026
MRESPOLES
Motor Resolver Poles
P2027
RESAMPLRANGE
Resolver Amplitude Range
P2028
SININITMODE
Sine/Cosine Calibration Mode
P2029
TMTEMP
Tamagawa Temperature
P2030

CDHD2
18 Operator Panel (HMI)
Parameter
Description
Code
INDEXDURATE
Simulated Encoder Index Pulse Duration
P2032
Secondary Feedback
Starting at index 2100
HWPEXT
Hardware Position External
P2100
HWPEXTCNTRLR
Hardware Position External (FPGA)
P2101
HWPEXTMACHN
Hardware Position External (DSP)
P2102
SFB
Secondary Feedback
P2103
SFBMODE
Secondary Feedback Mode
P2107
SFBOFFSET
Secondary Feedback Offset
P2108
SFBTYPE
Secondary Feedback Type
P2113
LMUNITSDEN
Motor to Load Scaling Denominator
P2114
LMUNITSNUM
Motor to Load Scaling Numerator
P2115
Motor
Starting at index 3000
MOTORNAME
Motor Name
P3000
MOTORTYPE
Motor Type
P3001
MICONT
Motor Continuous Current
P3002
MIPEAK
Motor Peak Current
P3003
MSPEED
Motor Maximum Speed
P3004
MPOLES
Motor Poles
P3005
MPITCH
Motor Pitch
P3006
MKT
Torque Constant
P3007
MKF
Torque Constant for Linear Motor
P3008
ML
Motor Inductance
P3009
MR
Motor Resistance
P3010
MOTORCOMMTYPE
Motor Commutation Type
P3011
MFOLD
Motor Foldback Status
P3012
MFOLDD
Motor Foldback Delay Time
P3013
MFOLDDIS
Motor Foldback Disable
P3014
MFOLDF
Motor Foldback Factor
P3015
MFOLDR
Motor Foldback Recovery Time
P3016
MFOLDT
Motor Foldback Time Constant
P3017
MIFOLD
Motor Foldback Current
P3018
MIFOLDFTHRESH
Motor Foldback Fault Threshold
P3019
MTPMODE
Electronic Motor Nameplate Mode
P3020
Digital I/Os
Starting at index 4000
INMODE 1
Input Mode (input 1)
P4000
INMODE 2
Input Mode (input 2)
P4001
INMODE 3
Input Mode (input 3)
P4002
INMODE 4
Input Mode (input 4)
P4003

CDHD2
Operator Panel (HMI) 19
Parameter
Description
Code
INMODE 5
Input Mode (input 5)
P4004
INMODE 6
Input Mode (input 6)
P4005
INMODE 7
Input Mode (input 7)
P4006
INMODE 8
Input Mode (input 8)
P4007
INMODE 9
Input Mode (input 9)
P4008
INMODE 10
Input Mode (input 10)
P4009
INMODE 11
Input Mode (input 11)
P4010
ININV 1
Input Inversion (input 1)
P4011
ININV 2
Input Inversion (input 2)
P4012
ININV 3
Input Inversion (input 3)
P4013
ININV 4
Input Inversion (input 4)
P4014
ININV 5
Input Inversion (input 5)
P4015
ININV 6
Input Inversion (input 6)
P4016
ININV 7
Input Inversion (input 7)
P4017
ININV 8
Input Inversion (input 8)
P4018
ININV 9
Input Inversion (input 9)
P4019
ININV 10
Input Inversion (input 10)
P4020
ININV 11
Input Inversion (input 11)
P4021
OUTMODE 1
Output Mode (output 1)
P4022
OUTMODE 2
Output Mode (output 2)
P4023
OUTMODE 3
Output Mode (output 3)
P4024
OUTMODE 4
Output Mode (output 4)
P4025
OUTMODE 5
Output Mode (output 5)
P4026
OUTMODE 6
Output Mode (output 6)
P4027
OUTMODE 7
Output Mode (output 7)
P4028
OUTINV 1
Output Inversion (output 1)
P4029
OUTINV 2
Output Inversion (output 2)
P4030
OUTINV 3
Output Inversion (output 3)
P4031
OUTINV 4
Output Inversion (output 4)
P4032
OUTINV 5
Output Inversion (output 5)
P4033
OUTINV 6
Output Inversion (output 6)
P4034
OUTINV 7
Output Inversion (output 7)
P4035
ENCOUTZPOS
Encoder Simulation Index Position
P4036
IN32OPMODES
Operation Mode Change Input Level
P4037
IN32SWITCH
Operation Mode Change Resume Motion
P4038
JOGSPD1
Jog Speed 1 Triggered by Input
P4039
JOGSPD2
Jog Speed 2 Triggered by Input
P4040
OUTBRAKE
Manual Brake by Output
P4041

CDHD2
20 Operator Panel (HMI)
Parameter
Description
Code
OUTBRAKEINV
Manual Brake by Output Inverse
P4042
OUTBRAKEMODE
Manual Brake by Output Mode
P4043
OUTFLTLVL
Force Digital Output State on Fault
P4044
OUTILVL1
Current 1 Digital Output Definition
P4045
OUTILVL2
Current 2 Digital Output Definition
P4046
OUTINV
Position 1 Digital Output Definition
P4047
OUTPLVL2
Position 2 Digital Output Definition
P4048
OUTVLVL1
Velocity 1 Digital Output Definition
P4049
OUTVLVL2
Velocity 2 Digital Output Definition
P4050
RELAY
Fault Relay Status
P4051
RELAYMODE
Fault Relay Mode
P4052
Analog I/Os
Starting at index 4200
ANIN1DB
Analog Input 1 Deadband
P4200
ANIN1FILTAFF
Analog Input 1 MSQ 2nd Deriv FF
P4201
ANIN1FILTIN
Analog Input 1 Before MSQ Filter
P4202
ANIN1FILTMODE
Analog Input 1 MSQ Filter
P4203
ANIN1FILTT1
Analog Input 1 MSQ Filter Depth
P4204
ANIN1FILTT2
Analog Input 1 MSQ 1st 2nd Deriv
P4205
ANIN1FILTVELFF
Analog Input 1 MSQ 1st Deriv FF
P4206
ANIN1LPFHZ
Analog Input 1 Filter
P4207
ANIN1OFFSET
Analog Input 1 Offset
P4208
ANIN2DB
Analog Input 2 Deadband
P4209
ANIN2ISCALE
Analog Input 2 Current Scaling
P4210
ANIN2LPFHZ
Analog Input 2 Filter
P4211
ANIN2MODE
Analog Input 2 Mode
P4212
ANIN2OFFSET
Analog Input 2 Offset
P4213
ANIN2USER
Analog Input 2 Voltage User Units
P4214
ANIN2USERDEN
ANIN2USER Conversion Denominator
P4215
ANIN2USERNUM
ANIN2USER Conversion Numerator
P4216
ANIN2USEROFFSET
ANIN2USER Conversion Offset
P4217
ANIN2ZERO
Analog Input 2 Zero Command
P4218
ANOUT
Analog Output Value
P4219
ANOUTCMD
Analog Output Command
P4220
ANOUTISCALE
Analog Output Current Scaling
P4221
ANOUTLIM
Analog Output Voltage Limit
P4222
ANOUTMODE
Analog Output Mode
P4223
ANOUTVSCALE
Analog Output Velocity Scaling
P4224