Delta ASDA-A3 Series User Manual page 1174

ASDA-A3
AL036 Encoder alarm status error
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL040 Excessive position error of full-closed loop control
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
Condition: abnormal state occurred in the encoder.
Cause: the encoder sends out an alarm signal, but the alarm status of the encoder
read by the servo drive shows no error.
1. Check if the motor is properly grounded. Make sure the ground end (green) of
the power cable is grounded to the servo drive heat sink.
Check if the connection for the encoder signal cable is normal. Make sure the
2.
encoder signal cable is separated from the power supply or any high-current
cables to avoid interference.
Use shielded cable for the encoder cable. Pull out the wire mesh and have it
3.
correctly grounded.
4. Check the motor speed and make sure it is within the rated range.
If the issue persists, send your servo motor back to the distributor or contact Delta.
DI.ARST or cycle power on the servo drive.
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 or 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
Troubleshooting
14
14-27