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1． 通讯参数设定不当：检视通讯参数设定值，正确设定参数值 2. 通讯地址不正确：检查通讯地址，正确设定通讯地址 3. 通讯数值不正确：检查存取数值，正确设定数值

RLE20：串行通讯超时：RS-232／485通讯异常时动作

1．超时参数设定不当：检查超时参数的设定，正确设定数值 2. 长时间未接收通讯命令：检查通讯线是否松脱或断线，正确接线

RLE21：命令写入异常：控制命令下达异常时动作

代理台湾台达(DELTA)伺服系统
ASD-A0121-AB AB系列伺服驅動100W
ASD-B0121-A B系列伺服驅動100W
ECMA-C30401ES  0.1KW (Frame Size: 40)
ECMA-C30401FS
ASD-A0221-AB AB系列伺服驅動200W
ASD-B0221-A AC SERVO DRIVER 0.2KW 220V(L)
ECMA-C30602ES AC SERVO MOTOR 0.2KW 2500PPR 3000RPM
ECMA-C30602GS AC SERVO MOTOR 0.2KW 2500PPR 3000RPM
ECMA-C30602FS AC SERVO MOTOR 0.2KW  (With Brake)
ECMA-C30602HS AC SERVO MOTOR 0.2KW  (With Brake Oil Seal)
ASD-A0421-AB AB系列伺服驅動400W
ASD-B0421-A AC SERVO DRIVER 0.4KW 220V(L)
ECMA-C30604ES AC SERVO MOTOR 0.4KW (60)
ECMA-C30604EC AC SERVO MOTOR 0.4KW (80)  (3M)
ECMA-C30604AS AC SERVO MOTOR 0.4KW(60)光軸
ECMA-C30604PS AC SERVO MOTOR 0.4KW (60)螺孔，帶鍵槽
ECMA-C30604GS AC SERVO MOTOR 0.4KW(60) (With Oil Seal)
ECMA-C30604CS AC SERVO MOTOR 0.4KW (60)光軸 (With Oil Seal)
ECMA-C30604FS AC SERVO MOTOR 0.4KW(60) (With Brake)
ECMA-C30604HS
ECMA-C30804E7 AC SERVO MOTOR 0.4KW (80)
ECMA-C30804F7 AC SERVO MOTOR 0.4KW (80) (With Brake)
ECMA-C30804EC AC SERVO MOTOR 0.4KW (80)  (3M)
ECMA-C30804G7 AC SERVO MOTOR 0.4KW(80) with Oil Seal
ECMA-E31305ES AC SERVO MOTOR 0.5KW
ECMA-E31305FS AC SERVO MOTOR 0.5KW (With Brake)
ECMA-G31303ES AC SERVO MOTOR 0.3KW