Delta ASDA-B3 Series, Руководство пользователя

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Troubleshooting ASDA-B3
13-28
13
AL06A Absolute position is lost
Trigger condition
and cause
There are two conditions that may cause the loss of absolute position.
One is that the absolute coordinate is not established. When the absolute origin
coordinate is established, the origin is lost after power cycling of the servo drive. The
other is that an error occurred. After the absolute origin coordinate is established,
AL06A still occurs after power cycling of the servo drive.
 Absolute coordinate is not established
Condition:
1.
Servo drive in use for the first time.
2.
The battery is drained and the power supply of the servo drive is cut off.
3.
When the bus communication type (CANopen, DMCNET, EtherCAT) servo is
used with an absolute motor, the user issues an absolute position command
after the first use or modification of the E-Gear ratio.
Cause:
1.
The servo drive is used for the first time, so the absolute origin coordinate is
not established.
2.
Retaining the absolute position requires power supply, so when the battery is
drained and the power supply of the servo drive is cut off, the absolute
position of the servo is lost.
3.
After the E-Gear ratio is modified, the communication type coordinate system
needs to be re-established.
 An error occurred.
Condition:
1.
Encoder cable is damaged (including the exterior and the internal wiring).
2.
There is a momentary power failure in the battery power supply.
3.
The absolute motor is in error.
4.
The battery box is used, and J1 and J2 are connected reversely.
5.
The voltage level of the battery is lower than 2.9V.
Cause:
1.
Power supply is unstable due to damage of the encoder cable.
2.
The reason for the momentary power failure may be that the battery box
connector is loose or excessive machine vibration.
3.
The absolute encoder of this motor is in error.
4.
If J1 and J2 are connected reversely, the battery cannot charge the capacitor.
The function of the capacitor is to act as a buffer to supply power when the
power of the servo drive is cut off and switching to battery power supply.