Delta ASD-A2-0121 Series User Manual page 744

Chapter 12 Absolute System
Causes
Change the battery
when the drives' main
power is OFF.
After activating the
absolute function, the
absolute origin
coordinate has not
been created.
Bad connection of the
battery power circuit
AL061: Encoder under voltage
Causes
Battery under voltage
AL062: The multi-turn of absolute encoder overflows
Potential Cause
The operation
distance exceeds the
range the absolute
encoder is able to
record.
AL068: Absolute data transmitted via I/O is in error
Causes
Sequence error
Reading time out
Checking Method
Do not change or remove the battery when
the drive's main power is OFF.
1. Install the battery.
2. Check the wiring between the battery
pack and the power cable of the servo
drive.
3. Check the wiring of the encoder.
1. Check the wiring of the encoder.
2. Check the wiring between the battery
pack and the power cable of the servo
drive.
Checking Method
1. Check if the voltage of the battery on
the panel is lower than 3.1V (tentative
specification).
2. Measure if the voltage of the battery is
lower than 3.1V (tentative
specification).
Checking Method
Check if the operation distance exceeds
the range, -32768 ~ +32767, the absolute
encoder is able to record.
Checking Method
1. Switch OFF DI ABSQ should wait until
DO ABSR is OFF.
2. Switch ON ABSQ should wait until DO
ABSR is ON.
Check if the time between switching ON
DO ABSR and switching ON ABSQ
exceeds 200 ms.
Corrective Actions
Conduct the homing procedure
again. Refer to Chapter 12 for
the description of creating
absolute origin coordinate.
Conduct homing procedure.
Please refer to the description
of creating absolute origin
coordinate in sections 12.3.4.
and 12.3.5.
Connect or repair the wiring of
the battery so as to supply the
power to the encoder. Conduct
homing procedure again.
Please refer to the description
of creating absolute origin
coordinate in sections 12.3.4.
and 12.3.5.
Corrective Actions
Change the battery when the
power is ON which is controlled
by the servo drive. After you
change the battery, AL061 will
be cleared automatically.
Corrective Actions
Conduct homing procedure
again. Please refer to the
description of absolute
coordinate initialization in
sections 12.3.4 and 12.3.5.
Corrective Actions
Correct the reading sequence of
I/O.
After switching ON DO ABSR
(the absolute position data is
ready), read DO ABSD and
switch ON DI ABSQ within
200 ms so as to inform the
servo drive data reading is
completed.
ASDA-A2
12-33