Delta AL06A fault code meaning

Series: ASDA-A2

Absolute home coordinates have not been established

servo drive

Meaning:

Possible causes

Source: ASDA-A2 User Manual (DELTA_IA-ASD_ASDA-A2_UM_SC_20240510) P603

Series: ASDA-A3

Absolute position lost

servo drive

Meaning: 1. The drive is used for the first time after shipment from the factory. 2. The battery is depleted and the drive control power is also off. 3. When a bus communication servo (CANopen, DMCNET, EtherCAT) is used with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio.

Possible causes

• Absolute position loss can occur in two cases. In the first case, absolute coordinates have not yet been established, resulting in loss of the home position. In the second case, an error occurs: after the absolute home coordinates have been established, the AL06A alarm still appears after power-on again. ◼ Conditions in which absolute coordinates have not been established:
• First use of the drive after shipment from the factory.
• When the battery is depleted and the drive control power is also off.
• When a bus communication servo (CANopen, DMCNET, EtherCAT) is used with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio. Cause:
• The drive is being used for the first time after shipment from the factory, so the absolute home coordinates have not yet been established.
• Electrical power is required to retain the absolute position. If the battery is depleted and the drive is also powered off, the servo absolute position will be lost.
• After the electronic gear ratio is changed, the coordinate system for the communication type must be re-established. ◼ Error conditions:
• The encoder cable is damaged (including external damage and damage to internal wires).
• A momentary interruption of battery power has occurred (due to insufficient battery capacity or poor contact).
• Absolute motor error.
• When the battery voltage is below 2.9V. Cause:

Source: ASDA-A3 User Manual (DELTA_IA-ASD_ASDA-A3_UM_SC_20230515) P1170

Series: ASDA-B3

Absolute position lost

servo drive

Meaning: 1. The drive is being used for the first time after leaving the factory. 2. The battery is depleted and the drive control power is also off. 3. When a servo with bus communication is used with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio.

Possible causes

• Absolute position loss can occur in the following two cases. ◼ Absolute coordinates have not yet been established. Condition:
• First use of the drive after shipment from the factory.
• When the battery is depleted and the drive control power is also off.
• When a servo with bus communication is used with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio. Cause:
• The drive is being used for the first time after shipment from the factory, so the absolute home coordinates have not yet been established.
• Electrical power is required to retain the absolute position. If the battery is depleted and the drive is also powered off, the servo absolute position will be lost.
• After the electronic gear ratio is changed, the coordinate system of the servo with communication must be re-established. ◼ AL06A is still displayed after absolute coordinates have been established and power is cycled. Condition:
• The encoder cable is damaged (including visible damage and damage to internal wires).
• A momentary interruption of the battery power supply has occurred.
• Absolute motor error.
• When the battery voltage is below 2.9V. Cause:

Source: ASDA-B3 User Manual (DELTA_IA-ASD_ASDA-B3_UM_SC_20250108) P899

Series: ASDA-E3

Absolute position lost

servo drive

Meaning: 1. The drive is used for the first time after leaving the factory. 2. The battery is depleted and the drive control power is also off. 3. When a bus communication servo is used with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio.

Possible causes

• Absolute position loss can occur in two cases. In the first case, absolute coordinates have not yet been established, so the home position is lost after absolute home coordinates are established and power is cycled. In the second case, an error occurs, and the AL06A alarm still appears after absolute home coordinates are established and power is cycled. ◼ Conditions for coordinates not being established:
• First use of the drive after shipment from the factory.
• When the battery is depleted and the drive control power is also off.
• When a bus communication servo is used with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio. Cause:
• The drive is being used for the first time after shipment from the factory, so the absolute home coordinates have not yet been established.
• Electrical power is required to retain the absolute position. If the battery is depleted and the drive is also powered off, the servo absolute position will be lost.
• After the electronic gear ratio is changed, the coordinate system for the communication type must be re-established. ◼ Error conditions:
• The encoder cable is damaged (including external damage and damage to internal wires).
• A momentary interruption of battery power has occurred (i.e., insufficient battery capacity).
• Absolute motor error.
• When the battery voltage is below 2.9V. Cause:

Source: ASDA-E3 (DELTA_IA-ASD_ASDA-E3_UM_SC_20260313) P624

Series: ASDA-E3C-E

Absolute position lost

servo drive

Meaning: 1. The drive is used for the first time after shipment from the factory. 2. The battery is depleted and the drive power supply is also off. 3. When a bus communication servo (EtherCAT) is paired with an absolute motor, the user issues an absolute position command on first use or after changing the electronic gear ratio.

Possible causes

• Absolute position loss can occur in two situations: Conditions when the coordinate system has not yet been established:
• First use of the drive after shipment from the factory.
• The battery is depleted and the drive power supply is also off.
• When a bus communication servo (EtherCAT) is used with an absolute motor, the user issues an absolute position command during initial use or after changing the electronic gear ratio. Cause:
• The drive is being used for the first time after shipment from the factory, so the absolute home coordinates have not yet been established.
• Electrical power is required to retain the absolute position. If the battery is depleted and the drive is also powered off, the servo absolute position will be lost.
• After the electronic gear ratio is changed, the coordinate system of the communication servo must be re-established. Conditions when AL06A is still displayed after absolute coordinates have been established and power is cycled:
• The encoder cable is damaged (including external damage and damage to internal wires).
• A momentary interruption of the battery power supply has occurred.
• Absolute motor error.
• When the battery voltage is below 2.9V. Cause:

Source: ASDA-E3C-E Application Technical Manual (DELTA_IA-ASD_ASDA-E3C-E_UM_SC_20260612) P548

Series: ASDA-E3C-L

Absolute position lost

servo drive

Meaning: 1. The drive is used for the first time after shipment from the factory. 2. The battery is depleted and the drive power supply is also off.

Possible causes

• Absolute position loss can occur in two situations: Conditions when the coordinate system has not yet been established:
• First use of the drive after shipment from the factory.
• The battery is depleted and the drive power supply is also off. Cause:
• The drive is being used for the first time after shipment from the factory, so the absolute home coordinates have not yet been established.
• Electrical power is required to retain the absolute position. Therefore, the servo loses its absolute position when the battery is depleted and the drive power supply is also off. Conditions when AL06A is still displayed after absolute coordinates have been established and power is cycled:
• The encoder cable is damaged (including external damage and damage to internal wires).
• A momentary interruption of the battery power supply has occurred.
• Absolute motor error.
• When the battery voltage is below 2.9V. Cause:
• Damage to the encoder cable causes an unstable power supply.
• A momentary power interruption may be caused by a loose connector on the battery box or excessive machine vibration.

Source: ASDA-E3C-L Application Technical Manual (DELTA_IA-ASD_ASDA-E3C-L_UM_SC_20260612) P418

Series: ASDA-H3

Absolute position lost

servo drive

Meaning: 1. The drive is used for the first time after leaving the factory. 2. The battery is depleted and the drive control power is also off. 3. When a bus communication servo (EtherCAT) is used with an absolute motor, the user issues an absolute position command during initial use or after changing the electronic gear ratio.

Possible causes

• Absolute position loss can occur in the following two situations. Conditions under which absolute coordinates have not yet been established:
• First use of the drive after shipment from the factory.
• When the battery is depleted and the drive control power is also off.
• When a bus communication servo (EtherCAT) is used with an absolute motor, the user issues an absolute position command during initial use or after changing the electronic gear ratio. Cause:
• The drive is being used for the first time after shipment from the factory, so the absolute home coordinates have not yet been established.
• Electrical power is required to retain the absolute position. If the battery is depleted and the drive is also powered off, the servo absolute position will be lost.
• After the electronic gear ratio is changed, the coordinate system of the communication servo must be re-established. Conditions under which AL06A is still displayed after power-on following establishment of absolute coordinates:
• The encoder cable is damaged (including external damage and damage to internal wires).
• A momentary interruption of the battery power supply has occurred.
• Absolute motor error.
• When the battery voltage is below 2.9V. Cause:

Source: ASDA-H3 User Manual (DELTA_IA-ASD_ASDA-H3_UM_SC_20260428) P787

Series: ASDA-W3

Absolute position lost (battery voltage is currently normal)

servo drive

Meaning: The absolute encoder has lost its internal position, and the battery voltage is currently normal. (If the battery voltage is currently too low, AL060 is displayed.)

Possible causes

• Condition: The absolute encoder has lost its internal position, and the battery voltage is currently normal. (If the battery voltage is currently too low, AL060 is displayed.) Cause:
• The absolute function is being set for the motor for the first time.
• After the absolute function was enabled, the battery was absent or its charge was below the specified value while power was off. The battery was subsequently reconnected, and its voltage is now normal.
• Poor contact or an open circuit in the battery power supply wiring.
• The wiring for J1 and J2 in the battery box is reversed, preventing the battery from charging the capacitor. The capacitor provides a buffer during the transition to battery power when the drive power supply is turned off.
• An error has occurred in the motor's absolute encoder.

Source: ASDA-W3 Series Servo System Application Technical Manual (DELTA_IA-ASD_ASDA-W3_UM_SC_20251226) P744