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12 Troubleshooting and Maintenance
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
12-4
Trou
blesh
oo
ting
12
12-
4-2
Trou
bleshooting with the AL Statu
s
Co
de
The AL status codes indicate errors related to EtherCAT communications.
The following list shows causes and measures of each AL status code of which the G5-series Servo
Drive notifies the host controller.
12-4-2 Troubleshooting with the AL Status Code
AL Status Code List
AL status
code
Name
Cause
Measures
0011 hex
Illegal State
Transition Request
Received
An incorrect state transition request
was received.
Change the state correctly by the host
controller.
0012 hex
Error State
Transition
Received
An unknown state transition request
was received.
Change the state correctly by the host
controller.
0013 hex
Bootstrap State
Transition Request
Received
A request of state transition to
Bootstrap mode was received.
Check the host controller setting so that the
host controller does not request the transition
to Bootstrap mode.
0014 hex
Slave Unit
Verification Error
Data written to the SII does not
match data inside the Servo Drive.
•
Write correct values to the SII, and cycle the
power supply.
•
Replace the Servo Drive.
0016 hex
Mailbox Setting
Error
An incorrect setting was detected in
the mailbox of the Sync Manager.
Review the mailbox setting in the host
controller.
001A hex
•
Communications
Synchronization
Error
•
Synchronization
Error
•
The number of consecutive errors
in receiving data during the
communication sync time
exceeded the value specified for
the Communications Error
Setting (2200 hex).
•
The Sync0 signal was interrupted
during PDO communications.
•
Take measures, which are described in
Troubleshooting, for a Communications
Synchronization Error (Error No. 83.3) and a
Synchronization Error (Error No. 83.4).
•
Review the synchronization setting in the
host controller.
001B hex
Process Data WDT
Error
A timeout was detected for a
transmission frame of process data.
•
Wire the EtherCAT communications cable
correctly.
•
Check to see if the EtherCAT
communications cable is exposed to
excessive noise.
•
Review the synchronous cycle setting in the
host controller.
•
Review the WDT setting in the host
controller.
001D hex
RxPDO Setting
Error
A Sync Manager RxPDO setting is
incorrect.
Review the RxPDO setting in the host
controller.
001E hex
TxPDO Setting
Error
A Sync Manager TxPDO setting is
incorrect.
Review the TxPDO setting in the host
controller.
001F hex
PDO WDT Setting
Error
A PDO WDT setting is incorrect.
Review the PDO WDT setting in the host
controller.
0020 hex
Slave Unit
Verification Error
Data written to the SII does not
match data inside the Servo Drive.
•
Cycle the power supply.
•
If this error occurs again after you cycled the
power supply, replace the Servo Drive.
0021 hex
Node Address
Updated
•
The set node address is different
from the value that was set at the
last operation.
•
Communications were
established without cycling the
power supply after you changed
the node address.
Cycle the power supply.
