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CANopen Mode

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ASDA-A3

12

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 the 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 “CN2 communication failed” according to the Delta servo alarm.

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

Object 1005h: COB-ID SYNC message

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

1005h

COB-ID SYNC message

VAR

UNSIGNED32

RO

No

UNSIGNED32

80h

Object function:

This object is read-only and cannot be set.

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0 - Bit 10

Bit 11 - Bit 31

Function

SYNC-COB-ID = 0x80

Reserved

Description

-

-

12-36

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