Delta ASD-A2 Series User Manual page 587

ASDA-A2
AL180：CANopen Heartbeat or NodeGuarding error
Causes
CANopen
communication breaks
AL185：Abnormal CAN Bus hardware
Causes
Abnormal CAN Bus
hardware
AL186：Bus off
Causes
CAN Bus transfer error
AL201：An error occurs when loading CANopen data
Causes
An error occurs when
loading CANopen data
AL207：Parameter group of PR#8 is out of the range
Causes
The parameter group of
command source
exceeds the range
10-24
Checking Method
Check if CANopen communication
and connection is normal.
Checking Method
1. Check if the communication cable
of CAN Bus is good.
2. Check if the communication
quality is good. (It is suggested to
use common grounding and
shielded cable)
Checking Method
Check if the communication is
correctly connected or if there is any
interference
The number of slave station is
excessive and the communication
cycle period is too short.
Checking Method
1. If the alarm is cleared when re-
servo on, it means the data error
occurs instantaneously when
accessing in the previous time.
2. If the error still exists after re-
servo on, it means the data in
EEPROM is damaged. It has to
enter the correct value again.
The method is as the followings:
a. If the user desires to enter the
default value, it can set P2-08
to 30, 28 or CANopen object
as 0x1011.
b. If the user desires to enter the
current value, it can set
CANopen object to 0x1010.
(Please refer to CANopen
description.)
Checking Method
Writing parameter via PR
procedure: The parameter group of
command source exceeds the
Chapter 10 Troubleshooting
Corrective Actions
NMT:Reset node or 0x6040.Fault
Reset
Corrective Actions
NMT: Reset node or re-servo on
Corrective Actions
Change the communication cable
or clear the noise
Lengthen the communication cycle
period
Corrective Actions
DI.ARST, CANopen 0x1011
Restore default parameter
Corrective Actions
DI.Alm Reset or write 0 into P0-01
Revision February, 2017