Delta ASDA-A2 Series User Manual page 614

Chapter 10 Troubleshooting
CANopen Communication Fault Messages
: CANbus error
Potential Cause
CANbus off or Error
Rx/Tx Counter
exceeds 128.
: CANopen SDO receive buffer overrun
Potential Cause
SDO Rx buffer
overrun is detected
(receive two or more
SDO packets in
1ms).
: CANopen PDO receive buffer overrun
Potential Cause
PDO Rx buffer
overrun is detected
(receive two or more
PDO packets in
1ms).
: Index error occurs when accessing PDO object
Potential Cause
The specified Index
in the message does
not exist.
Revision September 2012
Checking Method
1. Examine CANbus communication
cable.
2. Check if the communication quality is
good quality state. (It is recommended
to use shielded cables and use
common grounding.)
Checking Method
Check if the servo drive (Master) receives
two or more SDO packets in 1ms.
Checking Method
Check if the servo drive (Master) receives
two or more PDO (same COB-ID) packets
in 1ms.
Checking Method
Check if the Entry index value in PDO
mapping is changed when accessing
PDO object.
Corrective Actions
NMT Maser send "Reset
node" command to its slave or
restart the servo drive.
Corrective Actions
NMT Maser send "Reset
node" command to its slave or
reset the fault by sending the
control word (0x6040) through
CAN communication (the value
of CANopen object 0x6040
should be reset)
Corrective Actions
NMT Maser send "Reset
node" command to its slave or
reset the fault by sending the
control word (0x6040) through
CAN communication (the value
of CANopen object 0x6040
should be reset)
Corrective Actions
NMT Maser send "Reset
node" command to its slave or
reset the fault by sending the
control word (0x6040) through
CAN communication (the value
of CANopen object 0x6040
should be reset)
A2
ASDA-
10-19