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EtherCAT Mode

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ASDA-A3

13

Format of this object: (High word h) DCBA; (Low word L) UZYX

A

B

Bit 16 - Bit 31

C

Delta servo alarm

D

X

Y

Bit 0 - Bit 15

Z

Error code

U

Definitions are as follows:

 UZYX: error code. Refer to the error code definition in DS402.

 DCBA: Delta servo alarm. Refer to Chapter 14 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

Delta servo alarm (UINT16)

0x0011

Low word

Error code (UINT16)

0x7305

AL011 is defined as “CN2 communication failed” based on the Delta servo alarm.

Error code: 0x7305 is defined as “Incremental sensor 1 fault” according to DS402.

Object 1006h: Communication cycle period

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

Unit

1006h

Communication cycle period

VAR

UNSIGNED32

RW

No

UNSIGNED32

0

μs

Object function:

This object is to set the communication cycle (unit: μs). The communication cycle is the

interval between two SYNCs. If you are not using SYNC, set this object to 0.

13-50

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