Delta ASDA-A2 Fault AL06A Absolute Coordinate Not Initialized

Getting the AL06A error on your Delta ASDA-A2 servo drive? Learn why absolute encoders lose their position and follow our step-by-step guide to initialize coordinates and reset the battery.

 

If you are working with the Delta ASDA-A2 series servo drive, you may encounter the AL06A alarm. This specific code indicates that the absolute coordinate has not been initialized. Unlike standard incremental encoders that reset every time you cycle power, an absolute encoder is designed to "remember" exactly where the motor shaft is—even when the power is off.

When AL06A appears, the drive is essentially telling you: "I know I'm supposed to know where I am, but I've forgotten my zero point." Here is a human-made guide to understanding why this happens and how to get your coordinates back in sync.

Common Causes of AL06A

Even if your battery voltage measures within the normal range (typically 3.6V), the encoder can lose its "revolution count" data. This usually happens in three scenarios:

• First-Time Use: You are commissioning a brand-new motor that has never had its home position defined.
• Battery Replacement: You recently swapped out the battery in the encoder cable battery box, causing a temporary loss of data.
• Poor Connectivity: The wiring between the encoder, the battery box, and the CN2 port on the drive is loose or damaged.

Step-by-Step Troubleshooting & Remedies

1. Inspect Physical Connections

Before diving into software resets, check the hardware. A loose wire can cause intermittent data loss even if the battery is brand new.

• Check the Battery Box: Open the battery housing on the encoder cable. Ensure the battery is seated firmly and there is no corrosion on the terminals.
• Encoder Wiring: Ensure the CN2 connector is fully plugged into the drive and that the encoder cable isn't being pulled or pinched by moving machine parts.

2. Initialize the Absolute Origin (The Core Fix)

To clear AL06A, you must perform a "Homing" procedure to establish a new 0,0 coordinate. You cannot simply "Reset" this fault; you must teach the drive where it is.

Method A: Using the Drive Keypad

1. Navigate to Parameter P2-08 (Special Functions).
2. Set the value to 271 (This is the code to reset the absolute encoder).
3. Cycle the power (Turn OFF, wait for the display to go blank, then turn back ON).
4. The AL06A should disappear, often replaced by a AL060 (Homing required) message.

Method B: Using ASDA-Soft Software

1. Connect your PC to the drive and open ASDA-Soft.
2. Go to the "Digital IO / Jog" or "Homing Definition" screen.
3. Execute the "Absolute Encoder Reset" or perform a "Home Search."

3. Verify Battery Status

If you initialize the coordinates, but the AL06A fault returns the next time you turn the power off and on, your battery is likely failing to hold the memory.

• Measure the battery voltage while the drive is OFF. If it is below 3.0V, replace it immediately with a high-quality Lithium battery (ER14505 or similar).
• Important: Always replace the battery while the drive power is ON to avoid losing the coordinates again during the swap!

Summary Checklist for AL06A

Action	Check For
Wiring Check	Ensure solid connection between encoder battery box and drive CN2.
Battery Voltage	Confirm voltage is > 3.0V (Standard is 3.6V).
Parameter P2-08	Set to 271 to reset encoder amnesia.
Homing	Execute a home move to define the absolute 0 position.

Conclusion

The AL06A fault is a routine part of maintaining a high-precision absolute motion system. By ensuring your battery wiring is secure and correctly performing the initialization sequence (P2-08 = 271), you can quickly restore your Delta ASDA-A2 system to its peak performance.