Delta AL040 fault code meaning
Delta / AL040
Series: ASDA-A3, ASDA-H3
Fully closed-loop position control error too large
servo drive
Meaning: Full-closed-loop position control error is too large.
Possible causes
- Condition: Full-closed-loop position control error is too large. Cause:
- P1.073 setting value too small.
- Check whether the encoder connector is loose or a problem occurred when connecting the motor to the mechanism.
- If the calculated number of A/B Pulse corresponding to one motor revolution in full-closed-loop control is not an integer, but parameter P1.072 only accepts integer values, the position error between the motor encoder and the auxiliary encoder will increase during prolonged operation. Set P1.085 to avoid triggering
Source: ASDA-A3 User Manual (DELTA_IA-ASD_ASDA-A3_UM_SC_20230515) P399; ASDA-H3 User Manual (DELTA_IA-ASD_ASDA-H3_UM_SC_20260428) P312
Series: ASDA-W3
Position error between the main and auxiliary encoders is too large
servo drive
Meaning: Monitored variable -105 [Main/auxiliary encoder position error (pulse)] > P1.073.
Possible causes
- Condition: Monitored variable -105 [Main/auxiliary encoder position error (pulse)] > P1.073. Cause:
- P1.073 setting value too small.
- The fully closed-loop function is not used (P1.074.X = 0), but P2.112 [Bit 10] is incorrectly set to 1.
- The encoder connector is loose or there is a problem with the connection between the motor and the mechanism.
- If the calculated number of A/B pulse corresponding to one motor revolution in fully closed-loop control is not an integer, but P1.072 can only be set to an integer, the position error between the motor encoder and auxiliary encoder increases over extended operation. Set P1.085 to prevent AL040 from being triggered.
Source: ASDA-W3 Series Servo System Application Technical Manual (DELTA_IA-ASD_ASDA-W3_UM_SC_20251226) P732