AL.127 PDO Write prohibited while Servo Enabled – Delta servo troubleshooting

Name	Description	ALM	WRN	SRV ON	Clear Way
AL.127 PDO Write prohibited while Servo Enabled	PDO object is write-protected when servo drive is on (enabled)	⊗		Yes	NMT:Reset node 或0x6040.Fault Reset

Name

Description

ALM

WRN

SRV ON

Clear Way

AL.127

PDO Write prohibited while Servo Enabled

PDO object is write-protected when servo drive is on (enabled)

⊗

Yes

NMT:Reset node 或0x6040.Fault Reset

Trigger condition

and cause

PDO object is write-protected (unchangeable) when the servo drive is on (enabled).

Checking method

and corrective action

Make sure no specified object is written when the servo drive receives or sends PDO in the Servo On state.

How to clear the alarm?

NMT: reset node, 0x6040 fault reset, or DI.ARST.

－－－ ↓ The following content is contributed by users ↓－－－

cause	The object mapped to the PDO is prohibited from writing while the drive is enabled (servo on).
actions	When the driver is enabled (servo on), please do not write this type of PDO.
How to clear?	Same as above

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