Delta ASDA-A2 User Manual

Chapter 10 Troubleshooting ASDA-A2
Revision February, 2017 10-23
AL128：Error occurs when reading CANopen PDO via EEPROM
Causes Checking Method Corrective Actions
An error occurs when
loading the default value
via ROM at start-up. All
objects of CAN returns to
the default value
automatically.
When PDO is receiving or sending,
check if the error occurs because
the specified object reads
EEPROM.
NMT: Reset node or 0x6040.Fault
Reset
AL129：Error occurs when writing CANopen PDO via EEPROM
Causes Checking Method Corrective Actions
An error occurs when
saving the current value
into ROM.
When PDO is receiving or sending,
check if the error occurs because
the specified object is wrote into
EEPROM
NMT: Reset node or 0x6040.Fault
Reset
AL130：The accessing address of EEPROM is out of range when using CANopen PDO
Causes Checking Method Corrective Actions
The quantity of the data
inside ROM is over the
planned space. It is
probably because the
software has been
updated. The data inside
ROM is stored by the old
version. Thus, it cannot
be used.
Check that when PDO is receiving
or sending, if the specified object
enables EEPROM address exceeds
the limit.
NMT: Reset node or 0x6040.Fault
Reset
AL131：CRC of EEPROM calculation error occurs when using CANopen PDO
Causes Checking Method Corrective Actions
It means the data stored
in ROM is damaged. All
CANopen objects
automatically returns to
the default value.
Check if the specified object would
cause CRC calculation error in
EEPROM when PDO is receiving or
sending.
NMT: Reset node or 0x6040.Fault
Reset
AL132：Enter the incorrect password when using CANopen PDO
Causes Checking Method Corrective Actions
When entering
parameters via CAN,
parameters are
password-protected.
Users have to decode
the password first.
Check if the specified object enters
the wrong password when PDO is
receiving or sending.
NMT: Reset node or 0x6040.Fault
Reset
AL170：CANopen Heartbeat or NodeGuarding error
Causes Checking Method Corrective Actions
CANopen
communication breaks
Check if CANopen communication
and connection is normal.
NMT:Reset node or 0x6040.Fault
Reset

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.