Delta ASDA-A2 Series User Manual page 618

Chapter 10 Troubleshooting
Motion Control Fault Messages
: CANopen data initial error
Potential Cause
An error occurs
when loading data
from EE-PROM.
~
Potential Cause
In PR mode, error
occurs when using
PR command
TYPE=8 (write
specified parameter)
: PR command overflow
Potential Cause
In PR mode, this
fault occurs when
position command
counter register
overflowed and at
this time an
absolute position
command is
executed.
Revision September 2012
Checking Method
1. Restart the servo drive to check if the
error can be cleared.
2. If the error cannot be cleared after
restarting the servo drive, it indicates
that the data in EE-PROM is damaged
and the users must do the following
actions:
a. If the users want to write default
setting values, set P2-08 to 30 first
and then 28 next, or use CANopen
"0x1011" object to restore
parameters from non-volatile
memory.
b. If the users want to write current
setting values, use CANopen
"0x1010" object to save
parameters in non-volatile
memory.
: Write parameter error
Checking Method
: Check if the parameter
setting value exceeds the limit of normal
range.
: Check if the parameter is
read only.
,
parameter is write-protected when Servo
On or the setting value is invalid.
Checking Method
1. In PR mode, check if the position
command is executing continuously
toward single direction and make the
feedback position command counter
overflow.
2. Check if the above situation causes the
correct position cannot be gauged.
3. Check if an absolute position
command is executed after the
position command counter register
overflowed.
1. Turn ARST (DI signal) ON to
clear the fault.
2. Use CANopen "0x1011"
object to restore default
parameters.
1. Turn ARST (DI signal) ON to
clear the fault.
2. Set P0-01 to 0.
: Check if the
Correct the PR command and
parameter setting value.
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)
ASDA-
Corrective Actions
Corrective Actions
Corrective Actions
10-23
A2