Delta ASDA-A2 Series User Manual

Chapter 10 Troubleshooting ASDA-A2
Revision February, 2017 10-25
range
AL209：Parameter number of PR#8 is out of the range
Causes Checking Method Corrective Actions
The parameter number of
command source
exceeds the range
Writing parameter via PR
procedure: The parameter number
of command source exceeds the
range
DI.Alm Reset or write 0 into P0-01
AL213 ~ AL217：An error occurs when writing parameter via PR
Causes Checking Method Corrective Actions
PR commands TYPE 8
Error occurs when writing
parameters
AL213：parameter exceeds the
range
AL215：the parameter is read-only
DI.Alm Reset or P0-01 = 0
AL217：Servo On or invalid value
Re-adjust PR command and
parameters
AL231：The setting of monitor item of PR#8 is out of the range
Causes Checking Method Corrective Actions
The monitor item of the
command source
exceeds the range
Writing parameter via PR
procedure: The monitor item
number of command source
exceeds the range
DI.Alm Reset or write 0 into P0-01
AL235：PR command overflows
Causes Checking Method Corrective Actions
PR command error
Incremental type:
PR mode continuously operates in
one direction and causes feedback
register (FB_PUU) overflows. And
the coordinate system cannot reflect
the correct position. If issuing the
absolute positioning command at
this time, the error will occur.
Absolute type:
The error occurs in following
situations:
1. Feedback register (FB_PUU)
overflows
2. After P1.01.Z is modified, the
system neither returns to the
original point nor conducts
homing procedure.
3. It does not conduct homing
procedure after the E-gear ratio
is modified (P1-44 and P1-45).
4. Returning to the original point is
Conduct homing procedure

Delta ASDA-A2 Series Specifications

General

Enclosure Rating	IP20
Control Mode	Position, Speed, Torque
Communication Interface	RS-485, CANopen
Protection	Overcurrent, Overvoltage, Undervoltage, Overload, Overtemperature, Encoder error
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Humidity	20% to 90% RH (non-condensing)
Altitude	1000m max
Cooling Method	Natural cooling or forced air cooling
Encoder Feedback	20-bit incremental encoder (standard), 17-bit absolute encoder (optional)