Delta ASDA-A3 Series User Manual page 772

ASDA-A3
AL068 Absolute data transmitted by I/O is in error
Trigger condition
and cause
Checking method
and corrective
action
How to clear the
alarm?
AL069 Wrong motor type
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL06A Absolute position is lost
Trigger condition
and cause
Condition: the sequence is wrong when reading the absolute position with DIO.
Cause:
Time sequence is wrong.
1.
Reading timeout.
2.
Correct the time sequence for reading the data with DIO:
1.
(A) DI.ABSQ switches to off after DO.ABSR is off.
(B) DI.ABSQ switches to on after DO.ABSR is on.
Check the duration from when DO.ABSR switches on to the time that DI.ABSQ
2.
switches on and see if this duration is over 200 ms. The correct procedure
should be: when DO.ABSR switches on and after the bit data of absolute
position is ready, read DO.ABSD within 200 ms and switch DI.ABSQ on.
Then inform the servo drive that data reading is complete.
Cycle power on the servo drive.
Incremental motor does not support the absolute function.
Check to see if your servo motor has an incremental or absolute encoder.
1.
Check the setting of P2.069 and correctly set the value. Set P2.069 to 0 if your
2.
encoder does not use the absolute function.
Set P2.069 to 0 and then cycle power on the servo drive.
There are two conditions that may cause the loss of absolute position. One is the
absolute coordinates are not established, so after the absolute origin coordinates
are established, the origin will not be lost after cycling power on. The other is an
error occurred. After establishing the absolute origin coordinates, AL06A still occurs
after cycling power on.
Coordinates are not established.

Condition:
Servo drive in use for the first time.
1.
The battery is drained and the power supply of the servo drive is cut off.
2.
When the bus communication type (CANopen, DMCNET, EtherCAT) servo is
3.
used with an absolute motor, the user issues an absolute position command
after the first use or modification of the E-Gear ratio.
Troubleshooting
13
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