Diagnostics And Troubleshooting; Ethercat Diagnosis - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.5 Diagnostics and troubleshooting

This section provides diagnostics and troubleshooting information related to communication or
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interference with the controller. For information about the servo drive alarms, refer to Chapter 14
Troubleshooting.
1. The SYNC communication cycle of the controller and servo drive is different
Since the jitter of each controller is different, the time the servo drive receives the SYNC
differs from the SYNC communication cycle time. When this happens, adjust the value of
P3.009.U to increase the error range and let the servo drive automatically correct the
internal timer so it is consistent with the communication cycle of the controller.
2. Eliminate interference
Packets are particularly sensitive to interference in high-speed network communication
applications. To achieve fast and high-precision control, the selection of the wire is
extremely important. Use shielded cables for the communication wiring, and make sure that
the cable shield is firmly connected to the servo drive communication port. Also, ensure the
ground wire is properly connected and grounded.

13.5.1 EtherCAT Diagnosis

The EtherCAT automatic error diagnostic function must be used with the ASDA-Soft software of
version 6.1.2.0 or above. To use this function, activate EtherCAT Diagnosis in ASDA-Soft and
press Diagnosis to get the following EtherCAT connection information for error detection.
1. Check if the servo parameter P1.001.YX is set to 0C for communication mode.
2. Port hardware detection (check if Port0 or Port1 is connected).
3. Time synchronization status (Cycle time and DC time).
4. Physical station number (Config ID) and logical station number (P3.000) information.
5. Check the content of PDO mapping to determine if the configuration is correct.
6. SM0 - SM3: the channels used by the SDO & PDO and the channel length information.
7. FMMU0 - FMMU3 configuration information.
8. EtherCAT state machine display (Init  Pre-Op  Safe-Op  Op).
9. Status display for EtherCAT communication initialization application layer (Application Layer
Error Code).
10. EtherCAT communication error rate display.
11. Controlword (OD 6040h) and Statusword (OD 6041h) display.
12. EtherCAT operation mode status display (OD 6060h, 6061h, 6071h, 6072h, 6080h, 60FFh,
60E0h, 60E1h, and 607Ah)
Note: refer to the latest version of the ASDA-Soft software for the updated functions of EtherCAT
Diagnosis.
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