Cause : Encoder Error comes when the encoder produces abnormal pulses. The encoder cable may be damaged, loose, or disconnected.

AL011 alarm in delta servo drive indicates Encoder Error. This means the encoder signal is not being received correctly by the drive.

1. Check if the wiring follows the suggested wiring of the user manual.
2. Check the drive connector of CN2 and encoder.
3. Check if the connection between CN2 of the drive and the encoder of the servo motor is loose.
4. Check if the motor is damaged then change the motor.