Chapter 4 EtherCAT Troubleshooting
ASDA A2-E
Revision April, 2015
4-3
Q: ASDA A2-E servo drive shows AL180
A: Working under Operational state and losing three consecutive PDOs will lead to
this alarm.
1. A mechanism inside Delta Servo Drive can be used to monitor the error when
receiving PDO by setting P0-02 to 121. If the number keeps increasing, it can
be interpreted as the exaggerated jitter of PDO or server interference on the
communication cable.
2. Select drive and click
Online
. If the number in the columns of Lost Frames and
Rx Errors keeps increasing, it means the system have severe interference.
Figure 33
Q: ASDA A2-E servo drive servo drive shows AL3E1
A: Working under Operational state with CANopen CSP/CSV/CST mode and losing
two consecutive PDOs will lead to this alarm.
1. Check the reference clock whether with big time jitter
2. Fault reset with control word 0x6040.7 = 1
Q: ASDA A2-E servo drive shows AL3E3
A: Working under Operational state with CANopen CSP/CSV/CST mode and losing
two consecutive PDOs will lead to this alarm.
1. Make sure the host controller periodically and stably sends PDO.
2. Make sure grounding and wiring are both correct.
