Delta ASDA-A3 Series User Manual page 1187

Troubleshooting
AL06A Absolute position is lost
14
Trigger condition
and cause
14-40
There are two conditions that may cause the loss of absolute position. In the first
condition, the absolute position is not established. Thus, the origin is lost. In the
other condition, an error occurred. After the absolute origin position is established,
AL06A still occurs after power cycling of the servo drive.
 The absolute position is not established.
Condition:
The servo drive is used 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.
Cause:
The servo drive is used for the first time, so the absolute origin position is not
1.
estsablished.
Retaining the absolute position requires power supply, so when the battery is
2.
drained and the power supply of the servo drive is cut off, the absolute
position of the servo is lost.
After the E-Gear ratio is modified, the communication type position system
3.
needs to be re-established.
An error occurred.

Condition:
The encoder cable is damaged, including the exterior and internal wiring.
1.
There is a momentary power failure in the battery power supply.
2.
The absolute motor is in error.
3.
The battery box is used, and J1 and J2 are connected reversely.
4.
The voltage level of the battery is lower than 2.9V.
5.
Cause:
Power supply is unstable due to damage of the encoder cable.
1.
The reason for the momentary power failure may be that the battery box
2.
connector is loose or excessive machine vibration.
The absolute encoder of this motor is in error.
3.
4. If J1 and J2 are connected reversely, the battery cannot charge the capacitor.
The capacitor functions as a buffer to supply power when the power supply of
the servo drive power is switched to the battery due to a main power failure.
ASDA-A3