Delta ASDA-A3 Series User Manual page 790

ASDA-A3
AL3E3 CANopen synchronization signal timeout
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL3F1 Communication type absolute position command error
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL400 Index coordinate error
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL401 NMT reset command is received when servo is on
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
Condition: in CANopen IP mode, the synchronization with the controller failed.
Cause: timeout of CANopen synchronization signal.
1. Make sure the communication quality is good.
2. Make sure the setting of synchronization cycle (0x1006) is identical to that of
the controller.
3. Modify the synchronization error range setting (P3.009 E).
4. Ensure the correct time sequence of sending packets from the controller.
A drift or delay in packet sending time causes synchronization failure.
NMT: reset node or 0x6040 fault reset.
Condition: the bus communication type (CANopen, DMCNET, EtherCAT) servo is
used with an incremental motor, and when the position overflow occurs and the
absolute origin coordinates have not been established, the absolute positioning
command is issued.
Cause:
The absolute origin coordinates are not established.
1.
Overflow occurs since the motor keeps rotating in the same direction.
2.
Establish the absolute origin coordinates.
Establish the absolute origin coordinates.
Condition: P1.044 x P2.052 x 4 has to be less than 2^31.
Cause: the value of P2.052 is set too low causing index coordinate error.
Check if the value of P2.052 is within the allowable setting range. If the setting
value is too low, an index coordinate error occurs. Adjust the value of P2.052.
DI.ARST
NMT reset command is received when the servo is on
Check if the NMT reset command is received when the servo is on.
Use NMT: reset node or 0x6040 fault reset.
DI.ARST
Troubleshooting
13
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