Chapter 12 Absolute System ASDA-A2
Revision February, 2017 12-33
12.7.1 Causes and Corrective Actions
AL028: Encoder voltage error or the internal of the encoder is in error
Causes Checking Method Corrective Actions
Battery voltage is too
high
1. Check if the charging circuit
exists in the servo drive.
2. Check if the battery is correctly
installed
According to the procedure of Over
voltage to check. When corrective
actions are done, AL.028 will be
cleared automatically.
The internal encoder is in
error.
1. Check if it is the absolute type
encoder.
2. Check if the servo is properly
grounded.
3. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
4. Check if the shielding cables are
used in the wiring of the encoder.
1. If the situation is not improving,
please send the drive back to the
distributors or contact with Delta.
2. Please connect the UVW
connector (color green) to the
heat sink of the servo drive.
3. Please check if the encoder
cable separates from the power
supply or the high-current circuit.
4. Please use shielding mesh. If the
situation is not improving, please
send the drive back to the
distributors or contact with Delta.
AL029: Gray code error
Causes Checking Method Corrective Actions
Absolute position is in
error
Re-power on to operate the motor and
check if the alarm will occur again.
If the alarm occurs again,
please change the encoder.
AL060: Absolute Position Lost
Causes Checking Method Corrective Actions
Battery under voltage
Check if the voltage of the battery is lower
than 2.8V.
After change the battery,
conduct homing procedure
again. Please refer to the
description of absolute
coordinate initialization in
Chapter 12.
Change the battery
when the power is
OFF which is
controlled by the
servo drive
Do no change or remove the battery when
the power is OFF which is controlled by
the servo drive.
Conduct homing procedure
again. Please refer to the
description of absolute
coordinate initialization in
Chapter 12.
After activating the
absolute function, the
absolute coordinate
initialization has not
been completed.
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.
Conduct homing procedure.
Please refer to the description
of absolute coordinate
initialization in Chapter 12.
Bad connection of the
battery power circuit
1. Check the wiring of the encoder.
2. Check the wiring between the battery
pack and the power cable of the servo
drive.
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
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