Troubleshooting With The Al Status Code - Omron R88D-KN01L-ECT-L User Manual

12-4-2 Troubleshooting with the AL Status Code

The AL status codes indicate errors related to EtherCAT communications.
The following list shows causes and measures of each AL status code of which the G5-series Servo
Drive notifies the host controller.
AL Status Code List
AL status
Name
code
0011 hex Illegal State
Transition Request
Received
0012 hex Error State
Transition
Received
0013 hex Bootstrap State
Transition Request
Received
0014 hex Slave Unit
Verification Error
0016 hex Mailbox Setting
Error
001A hex • Communications
Synchronization
Error
• Synchronization
Error
001B hex Process Data WDT
Error
001D hex RxPDO Setting
Error
001E hex TxPDO Setting
Error
001F hex PDO WDT Setting
Error
0020 hex Slave Unit
Verification Error
0021 hex Node Address
Updated
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Cause
An incorrect state transition request
was received.
An unknown state transition request
was received.
A request of state transition to
Bootstrap mode was received.
Data written to the SII does not
match data inside the Servo Drive.
An incorrect setting was detected in
the mailbox of the Sync Manager.
• The number of consecutive errors
in receiving data during the
communication sync time
exceeded the value specified for
the Communications Error
Setting (2200 hex).
• The Sync0 signal was interrupted
during PDO communications.
A timeout was detected for a
transmission frame of process data.
A Sync Manager RxPDO setting is
incorrect.
A Sync Manager TxPDO setting is
incorrect.
A PDO WDT setting is incorrect.
Data written to the SII does not
match data inside the Servo Drive.
• The set node address is different
from the value that was set at the
last operation.
• Communications were
established without cycling the
power supply after you changed
the node address.
12 Troubleshooting and Maintenance
Measures
Change the state correctly by the host
controller.
Change the state correctly by the host
controller.
Check the host controller setting so that the
host controller does not request the transition
to Bootstrap mode.
• Write correct values to the SII, and cycle the
power supply.
• Replace the Servo Drive.
Review the mailbox setting in the host
controller.
• Take measures, which are described in
Troubleshooting, for a Communications
Synchronization Error (Error No. 83.3) and a
Synchronization Error (Error No. 83.4).
• Review the synchronization setting in the
host controller.
• Wire the EtherCAT communications cable
correctly.
• Check to see if the EtherCAT
communications cable is exposed to
excessive noise.
• Review the synchronous cycle setting in the
host controller.
• Review the WDT setting in the host
controller.
Review the RxPDO setting in the host
controller.
Review the TxPDO setting in the host
controller.
Review the PDO WDT setting in the host
controller.
• Cycle the power supply.
• If this error occurs again after you cycled the
power supply, replace the Servo Drive.
Cycle the power supply.
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