Delta AL051 fault code meaning

Delta / AL051

Series: ASDA-A3, ASDA-H3

Motor auto-tuning error

servo drive

Meaning: An error occurs when using the motor parameter identification wizard.

Possible causes

Condition: An error occurs when using the motor parameter identification wizard. Cause: This alarm is displayed during motor parameter identification if excessive friction prevents the motor from running, or if the resolution, magnetic poles, or pole pitch is incorrect.

Source: ASDA-A3 User Manual (DELTA_IA-ASD_ASDA-A3_UM_SC_20230515) P1161; ASDA-H3 User Manual (DELTA_IA-ASD_ASDA-H3_UM_SC_20260428) P780

Series: ASDA-W3

Incorrect parameter settings during motor parameter identification cause detection failure (incremental encoder)

servo drive

Meaning: During execution of the motor parameter identification wizard, the motor is expected to move a distance of one magnetic pole (360 degrees), but the actual travel is less than 4/5 magnetic poles (288 degrees). ◼ Linear motor: Distance of one magnetic pole (pulse) = PM.045 / PM.004 x 106. ◼ Rotary motor: Distance of one magnetic pole (pulse) = Encoder single-turn resolution / (PM.028 / 2).

Possible causes

Condition: During execution of the motor parameter identification wizard, the motor is expected to move a distance of one magnetic pole (360 degrees), but the actual travel is less than 4/5 magnetic poles (288 degrees). ◼ Linear motor: Distance of one magnetic pole (pulse) = PM.045 / PM.004 x 106. ◼ Rotary motor: Distance of one magnetic pole (pulse) = Encoder single-turn resolution / (PM.028 / 2). Cause:
Incorrect settings for parameters PM.003, PM.004, PM.028 (rotary motor), and PM.045 (linear motor).
External forces (mechanism, load, hardware limit, friction, or brake applied (holding)) cause uneven motor operation or a locked rotor.
Encoder feedback error.
Interference causes the pulse encoder to miss pulses.

Source: ASDA-W3 Series Servo System Application Technical Manual (DELTA_IA-ASD_ASDA-W3_UM_SC_20251226) P735