Delta ASDA-B3 Series, Руководство пользователя

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Troubleshooting
12.2.2.2 Select Synchronization mode ······························································ 12-15
12.2.2.3 Synchronous clock setting ·································································· 12-16
12.2.3 EtherCAT state machine ·········································································· 12-17
12.2.4 PDO mapping configuration ······································································ 12-19
12.2.4.1 Default PDO mapping configuration ····················································· 12-19
12.2.4.2 Set PDO mapping ············································································ 12-21
12.2.4.3 PDO mapping object ········································································· 12-22
12.2.4.4 SDO abort codes ············································································· 12-23
12.3 EtherCAT operation mode ············································································ 12-24
12.3.1 Profile Position Mode ·············································································· 12-24
12.3.2 Profile Velocity Mode··············································································· 12-29
12.3.3 Profile Torque Mode ················································································ 12-31
12.3.4 Homing Mode ························································································ 12-33
12.3.5 Cyclic Synchronous Position Mode····························································· 12-35
12.3.6 Cyclic Synchronous Velocity Mode ····························································· 12-37
12.3.7 Cyclic Synchronous Torque Mode ······························································ 12-39
12.3.8 Touch Probe function (Position capture function and position capture status) ······· 12-41
12.4 Object dictionary ························································································ 12-46
12.4.1 Specifications for objects ········································································· 12-46
12.4.2 List of objects ························································································ 12-47
12.4.3 Details of objects ···················································································· 12-49
12.4.3.1 OD 1XXXh communication object group ················································ 12-49
12.4.3.2 OD 2XXXh servo parameter group ······················································· 12-55
12.4.3.3 OD 6XXXh communication object group ················································ 12-56
12.5 Diagnostics and troubleshooting ···································································· 12-92
12.5.1 EtherCAT diagnostic system ····································································· 12-92
12.5.2 Alarm list ······························································································ 12-93
Troubleshooting
13.1 Alarm list ···································································································· 13-3
General type ······························································································· 13-3
Motion control type ······················································································· 13-4
STO type ·································································································· 13-5
Communication type ····················································································· 13-6
13.2 Causes and corrective actions ········································································· 13-7
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