Troubleshooting Full-Closed Loop Alarms - Delta ASDA-A3 Series User Manual

ASDA-A3

6.7.5 Troubleshooting full-closed loop alarms

AL040 Excessive position error of full-closed loop control
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL041 CN5 is disconnected
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
Condition: excessive position error of full-closed loop control.
Cause:
The setting value of P1.073 is too low.
1.
The encoder connector may be loose or there is a problem with the
2.
connection between the motor and the mechanical parts.
The input value for P1.072 can only be an integer. However, when the motor
3.
runs a cycle, if the number of A/B pulses in a full-closed loop is not an integer,
the position error between the motor encoder and the auxiliary encoder
accumulates. Thus, you need to set P1.085 to avoid triggering AL040.
Check the value for P1.073. If the value is too low, set a higher value.
1.
Make sure the encoder connector is firmly connected and there is no problem
2.
with the connection between the motor and the mechanical parts.
Check if the value of P1.085 is set properly.
3.
DI.ARST
The communication of CN5 is disconnected.
Check the communication circuit of CN5.
1.
When CN5 is not in use, check if both P1.074.X and PM.003.U are set to 0.
2.
Cycle power on the servo drive.
Operation Mode
6
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