Delta ASDA-A3 Series User Manual page 1182

ASDA-A3
AL05C Motor position feedback error
Trigger condition
and cause
Checking method
and corrective action
How to clear the
alarm?
AL05D Detection error for offset between absolute encoder zero point and motor magnetic
field zero point (PM.010)
Trigger condition
and cause
Checking method
and corrective action
Condition: sudden jumps occur to the motor position feedback.
Cause:
Encoder feedback is abnormal or the encoder is damaged.
1.
Encoder feedback is interfered.
2.
Check if the feedback signal is abnormal. Use the software scope and select
1.
"Feedback Position [PUU]" as the input signal for the channel and sample at
16 kHz or 20 kHz, and then operate the motor manually to monitor whether
the feedback value has discontinuous sudden jumps.
Check if the feedback signal is interfered, causing sudden jumps to the motor
2.
position feedback.
If the source of the main encoder is CN2, check if the communication error
3.
rate is increased due to interference. For example, check the communication
error rate by setting P0.017 to -80 and monitor whether the value of P0.009 is
not 0 and continuously increases.
Cycle power on the servo drive.
Condition: when the Motor Parameter Identification Wizard is executed for the third-
party absolute motor, an error occurred when the Wizard detected the offset between
the absolute encoder zero point and motor magnetic field zero point (PM.010).
Cause: the difference between the actual magnetic field angle of the motor and the
set value is too big.
Check if PM.003, PM.004, PM.028, and PM.045 are set correctly according to
1.
the specifications.
Make sure you can manually operate the motor.
2.
Check if the friction between the motor and mechanical part is too large.
3.
Check if the feedback signal is abnormal. Use the software scope and select
4.
"Feedback Position [PUU]" as the input signal for the channel to monitor
whether the feedback value is correct.
If there is interference, check the following items:
5.
(a) 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.
(b) Use shielded cable for the feedback signal cable. Make sure the signal
cable is separated from the power supply or any high-current cables to
avoid interference.
Troubleshooting
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