Xinje DP3C Series User Manual

26
9. EtherCAT alarm information
Note: the stepper alarm can be cleared by setting SM2013+20*(n-1) or the alarm can be cleared by upper
computer F0-00 = 1.
Code
Explanation
Reason
Solution
E-800
Incorrect ESM
requires fault
protection
Accept state transition requests that cannot be
converted from the current state:
Init→Safeop
Init→OP
PreOP→OP
ESM status after alarming: stop at the current status
when the current status is Init, PreOP, convert to
SafeOP when it is SafeOP.
ESC register AL Status Code: 0011h
Confirm the status conversion
requirements of the upper
device
E-801
Undefined ESM
requires fault
protection
Accept state transition requests except the
following:
1: Request Init State
2: Request Pre-Operational State
3: Request Bootstrap State
4: Reauest Safe-operational State
8: Request Operational State
ESM status after alarming: stop at the current status
when the current status is Init, PreOP, SafeOP.
Convert to SafeOP when it is OP.
ESC register AL Status Code: 0012h
Confirm the status conversion
requirements of the upper
device
E-802
Boot state
requires
abnormal
protection
Accept the following state transition requests:
3: Request Bootstrap State
ESM status after alarming: Init
ESC register AL Status Code: 0013h
Confirm the status conversion
requirements of the upper
device
E-803
PLL incomplete
abnormal
protection
1s after synchronization, the phase combination
(PLL locking) of communication and servo still
cannot be completed
ESM status after alarming: PreOP
ESC register AL Status Code: 002Dh
Confirm the setting of DC and
whether the propagation delay
compensation and deviation
compensation are correct
E-804
PDO watchdog
abnormal
protection
PDO communication (SafeOP or OP state), set the
time through ESC register address 0400 (Watchdog
Divider) and 0420 (Watchdog Time Process Data),
0220 (AL Event Request) bit10 is not ON.
ESM status after alarming: Safe OP
ESC register AL Status Code: 001Bh
Confirm whether the sending
time of PDO from the upper
device is fixed (interrupted).
Confirm that the PDO watchdog
detection delay value is too
large.
Confirm whether there is any
problem with the wiring of
EtherCAT communication cable
and whether there is excessive
noise on the cable.
E-806
PLL abnormal
protection
ESM is in the state of SafeOP or OP,
communication and servo phase (PLL locking) do
Confirm the setting of DC and
whether the propagation delay

Xinje DP3C Series Specifications

General

Brand	Xinje
Model	DP3C Series
Category	Servo Drives
Language	English