Delta ASD-A2/M series servo’s following error comes from two parts:
- The delay of command processing Ed
- Servo control lag Es
The total following error：Etotal = Ed + Es
Delta Servo
Delta servo drive
AL.186 CAN Bus off Error – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.186 CAN Bus off |
CAN data transmission error | ⊗ | Yes |
NMT:Reset node/ 0x6040.Fault Reset |
AL.185 CAN Bus hardware Error – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.185 CAN Bus H/W Error |
The communication of CAN Bus is breakdown or Error Rx/Tx Counter is over 128 | ⊗ | No |
NMT:Reset node/ 0x6040.Fault Reset |
AL.180 Heartbeat or NodeGuarding error – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.180 Heartbeat or |
Heartbeat or NodeGuarding error |
⊗ | No |
NMT:Reset node/ 0x6040.Fault Reset |
AL.170 Heartbeat or NodeGuarding warn – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.170 Heartbeat or |
Heartbeat or NodeGuarding error |
⊗ | Yes |
NMT:Reset node/ 0x6040.Fault Reset |
AL.011 Encoder Error – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.011 Encoder Error |
The encoder produces abnormal pulse | ⊗ | No | re-power on |
AL.303/3E3 CANopen SYNC time-out – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.303/3E3 SYNC Time-out |
The synchronized signal, SYNC of CANopen has not been received in time |
3E3 ⊗ |
303 ⊗ |
303：Yes 3E3：No |
NMT: Reset node/ 0x6040.Fault Reset |
AL.301/3E1 CANopen SYNC fail – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.301/3E1 CANopen SYNC fail |
CANopen IP mode fails to synchronize with the controller. |
3E1 ⊗ |
301 ⊗ |
301：Yes 3E1：No |
NMT: Reset node/ 0x6040.Fault Reset |
AL.009 Position Error out of range – Delta servo troubleshooting
<= See All alarms of Delta servo
| Name | Description | ALM | WRN | SRV ON | Clear Way |
|---|---|---|---|---|---|
|
AL.009 |
Position error exceeds P2-35 | ⊗ | NO | DI.ARST |
Delta A2 Servo Parameter List
－－－－－－－－－－－－－ ASD-A2-U/M Reference Manual －－－－－－－－－－－－－－