Delta ASDA-A2 User Manual

Chapter 10 Troubleshooting ASDA-A2
Revision February, 2017 10-31
AL06A
：The absolute coordinate has not been
initialized
The alarm can be cleared after
initializing the absolute coordinate.
AL070
：Encoder does not complete the command
which is issued by servo drive
The alarm can be cleared after re-
power on.
AL083
：Servo drive outputs excessive current
Turn DI.ARST on to clear the alarm.
AL085
：The absolute coordinate has not been
initialized
Turn DI.ARST on to clear the alarm.
AL095
：The servo drive does not connect to
external regenerative resistor
Turn DI.ARST on to clear the alarm.
AL099
：DSP firmware upgrade
Firstly set P2-08 to 30. Then set it to
28. And the alarm will be cleared after
re-power on.
AL111
：CANopen SDO receives buffer overflow
NMT: Reset node or 0x6040.Fault
Reset
AL112
：CANopen PDO receives buffer overflow
NMT: Reset node or 0x6040.Fault
Reset
AL121
：Index error occurs when accessing
CANopen PDO
NMT: Reset node or 0x6040.Fault
Reset
AL122
：Sub-Index error occurs when accessing
CANopen PDO
NMT: Reset node or 0x6040.Fault
Reset
AL123
：Data Size error occurs when accessing
CANopen PDO
NMT: Reset node or 0x6040.Fault
Reset
AL124
：Data range error occurs when accessing
CANopen PDO
NMT: Reset node or 0x6040.Fault
Reset
AL125
：CANopen PDO is read-only and write-
protected.
NMT: Reset node or 0x6040.Fault
Reset
AL126
：CANopen PDO is not allowed in PDO
NMT: Reset node or 0x6040.Fault
Reset
AL127
：CANopen PDO is write-protected when
Servo On
NMT: Reset node or 0x6040.Fault
Reset
AL128
：Error occurs when reading CANopen PDO
via EEPROM
NMT: Reset node or 0x6040.Fault
Reset
AL129
：Error occurs when writing CANopen PDO
via EEPROM
NMT: Reset node or 0x6040.Fault
Reset
AL130
：The accessing address of EEPROM is out
of range when using CANopen PDO
NMT: Reset node or 0x6040.Fault
Reset
AL131
：CRC of EEPROM calculation error occurs
when using CANopen PDO
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.