Delta ASDA-B3 Series, User Manual

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ASDA-B3 CANopen Mode
11-35
11
Format of this object: (High word h) DCBA : (Low word L) UZYX
A
Bit 16 - Bit 31
Delta servo alarm
X
Bit 0 - Bit 15
Error code
B Y
C Z
D U
Definitions are as follows:
 UZYX: error code. Refer to the error code definition in DS 402.
 DCBA: Delta servo alarm. Refer to Chapter 12 Troubleshooting.
Example:
When you operate the servo, if the encoder cable is not correctly connected, the servo drive
panel displays AL011 and its error code is stored in the 1003h array. The display is as follows:
Byte: High word Low word
Delta servo alarm (UINT16) Error code (UINT16)
0x0011 0x7305
AL011 is defined as encoder error based on the Delta servo alarm.
Error code: 0x7305 is defined as an Incremental Sensor 1 fault according to DS 402.
Object 1005h: COB-ID SYNC message
Index 1005h
Name COB-ID SYNC message
Object code VAR
Data type UNSIGNED32
Access RO
PDO mapping No
Setting range UNSIGNED32
Default 80
h
Object function:
This object is read-only and cannot be set.
31 30 29
28
27 26 25 24
Bit
15 14 13 12 11 10 9 8
Bit
7 6 5 4 3 2 1 0
23 22 21
20
19 18 17 16
Bit Function Description
Bit 31 - Bit 11 Reserved -
Bit 10 - Bit 0 SYNC-COB-ID = 0x80 -