Delta ASDA-M Servo Drive

Delta ASDA-M Servo Drive Fault Codes:

Fault Code and MeaningCause and Remedy
AL001

Overcurrent
Cause:

  • The drive output is short-circuited (Check wiring between motor and drive).

  • The motor wiring is in error.

  • IGBT is abnormal (Heat sink temperature abnormal).

  • The control parameter setting is in error.

  • Unreasonable command (Check acceleration time).




Remedy:

  • Eliminate short-circuit and avoid metal conductor being exposed.

  • Rewire by following the wiring description from the user manual.

  • Send the drive back to the distributors or contact Delta.

  • Set back to default setting and then gradually adjust the value.

  • Use less steep command or apply filter to smooth command.
AL002

Overvoltage
Cause:

  • Input voltage of main circuit is higher than rated allowable voltage.

  • Wrong power input (incorrect power system).

  • The hardware of the servo drive is damaged.




Remedy:

  • Apply to the correct power supply or serial voltage regulator.

  • Apply to the correct power supply or serial adaptor.

  • Send the drive back to the distributors or contact Delta.
AL003

Undervoltage
Cause:

  • Input voltage of main circuit is lower than rated allowable voltage.

  • No power supply for the main circuit.

  • Wrong power input (incorrect power system).




Remedy:

  • Re-confirm the voltage wiring.

  • Check the power switch.

  • Apply to the correct power supply or serial adaptor.
AL004

Motor Combination Error
Cause:

  • The encoder is damaged or abnormal.

  • The encoder is loose (Check connector).

  • Motor Combination Error (Connected to wrong motor).




Remedy:

  • Change the motor.

  • Install the motor again.

  • Change the motor.
AL005

Regeneration Error
Cause:

  • Wrong selection of regenerative resistor or external resistor unconnected.

  • Parameter P1-53 is not set to zero when regenerative resistor is not in use.

  • Wrong parameter setting (Check P1-52 and P1-53).




Remedy:

  • Reconnect resistor or calculate value. If alarm persists, send drive back to distributor.

  • Set parameter P1-53 to zero when it is not applying.

  • Correctly reset the value of P1-52 and P1-53.
AL006

Overload
Cause:

  • Over the rated loading and continuously excessive using (Check avg torque).

  • Control system parameter inappropriate (Mechanical vibration or Accel/Decel too fast).

  • Wrong wiring of the motor and encoder.

  • The encoder of the motor is defective.




Remedy:

  • Increase the motor capacity or reduce the load.

  • Adjust the gain value or slow down acceleration/deceleration time.

  • Correct wiring.

  • Send the drive back to the distributors or contact Delta.
AL007

Overspeed
Cause:

  • Unreasonable command (Analog voltage signal abnormal).

  • Inappropriate parameter setting (P2-34 too small).




Remedy:

  • Use less steep command or apply filter to smooth command.

  • Correctly set parameter P2-34 (over-speed warning condition).
AL008

Abnormal Pulse Command
Cause:

  • Pulse command frequency is higher than rated input frequency.




Remedy:

  • Correctly set the input pulse frequency.
AL009

Excessive Deviation of Position Command
Cause:

  • Parameter P2-35 is set too small.

  • The setting of the gain value is too small.

  • The torque limit is too low.

  • Excessive external load.




Remedy:

  • Increase the setting value of P2-35.

  • Correctly adjust the gain value.

  • Correctly adjust the torque limit value.

  • Reduce the external load or evaluate motor capacity again.
AL011

Encoder Error
Cause:

  • Wrong wiring of the encoder.

  • The encoder is loose (Check CN2 connector).

  • Bad connection of the encoder (Loose wiring at CN2).

  • The encoder is damaged.




Remedy:

  • Correct wiring.

  • Install the encoder again.

  • Reconnect the wiring.

  • Change the motor.
AL012

Adjustment Error
Cause:

  • The analog input contact is incorrectly set back to zero.

  • The detection device is damaged.




Remedy:

  • Correctly ground the analog input contact.

  • Reset power supply. If error persists, send drive back to Delta.
AL013

Emergency Stop
Cause:

  • Press the emergency stop button.




Remedy:

  • Activate emergency stop.
AL014

Reverse Limit Error
Cause:

  • Reverse limit switch is activated.

  • The servo system is unstable (Check inertia ratio).




Remedy:

  • Enable the reverse limit switch.

  • Re-adjust the parameter or evaluate the motor capacity.
AL015

Forward Limit Error
Cause:

  • Forward limit switch is activated.

  • The servo system is unstable (Check inertia ratio).




Remedy:

  • Enable the forward limit switch.

  • Re-adjust the parameter or evaluate the motor capacity.
AL016

IGBT Overheat
Cause:

  • Over rated loading or continuously excessive use (Motor current too high).

  • The drive output is short-circuited.




Remedy:

  • Increase the motor capacity or reduce the load.

  • Correct the wiring.
AL017

Abnormal EEPROM
Cause:

1. DSP accessing EEPROM error (Panel shows EXGAB).

2. Abnormal hidden parameter (Panel shows E100X).

3. Data in ROM is damaged (Panel shows E0001).



Remedy:


  • If parameter is over reasonable range: Re-power on after adjusting.

  • If writing parameter error: Clear alarm by DI.ARST.

  • If drive setting is wrong: Set the correct type of the drive.

  • If ROM damaged: Send the drive back to distributors or contact Delta.
AL018

Abnormal Signal Output
Cause:

1. The encoder is in error and causes abnormal signal output.

2. The output pulse exceeds the hardware allowable range.



Remedy:


  • Check fault records (P4-00 ~ P4-05). Conduct corrective actions for AL011, AL024, AL025, AL026.

  • Correctly set parameters P1-76 and P1-46 to ensure calculation is within range.
AL019

Serial Communication Error
Cause:

1. Improper setting of the communication parameter.

2. Incorrect communication address.

3. Incorrect communication value.



Remedy:


  • Correctly set the communication parameter value.

  • Correctly set the communication address.

  • Correctly set the accessing value.
AL020

Serial Communication Time Out
Cause:

1. Improper setting of the time-out parameter.

2. The drive hasn’t received the communication command for a long time.



Remedy:


  • Correctly set the time-out parameter value.

  • Check if communication cable is loose or broken; correct the wiring.
AL021

Reserved
Cause:

Reserved.



Remedy:


  • None listed.
AL022

Main circuit power leak phase
Cause:

The main circuit power is abnormal (cable loose or single phase input only).



Remedy:


  • Apply the three-phase power.

  • If still abnormal, send drive back to distributors or contact Delta.
AL023

Early warning for overload
Cause:

1. Drive is used in overload condition.

2. Value of parameter P1-56 is set too small.



Remedy:


  • Refer to the corrective actions of AL006 (Overload).

  • Increase the setting value of P1-56.

  • Or set the value over 100 to deactivate the overload warning function.
AL024

Encoder initial magnetic field error
Cause:

The initial magnetic field of the encoder (Signals U, V, W) is in error.



Remedy:


  • Check if servo is properly grounded.

  • Separate encoder cable from power supply/high-current circuits.

  • Ensure shielding cables are used for encoder wiring.

  • If situation does not improve, return to distributor.
AL025

The internal of the encoder is in error
Cause:

The internal memory and counter of the encoder are in error.



Remedy:


  • Connect UVW connector (green) to heat sink of servo drive.

  • Check separation of encoder cable from power supply.

  • Use shielding mesh.

  • If not improving, contact Delta.
AL026

Unreliable internal data of the encoder
Cause:

Errors occur in the internal data three times continuously.



Remedy:


  • Connect UVW connector (green) to heat sink of servo drive.

  • Check separation of encoder cable from power supply.

  • Use shielding mesh.

  • If not improving, contact Delta.
AL027

The internal of the Encoder is in error
Cause:

The internal reset of the encoder is in error.



Remedy:


  • Connect UVW connector (green) to heat sink of servo drive.

  • Check separation of encoder cable from power supply.

  • Use shielding mesh.

  • Check if operating temperature is over 95°C.

  • If not improving, contact Delta.
AL028

Encoder voltage error or internal error
Cause:

1. Battery voltage is too high (> 3.8V).

2. The internal encoder is in error.



Remedy:


  • For Voltage: Check charging circuit and battery installation. Perform “Over voltage” check. (AL028 clears automatically).

  • For Internal Error: Check if absolute type encoder.

  • Connect UVW connector to heat sink, separate cables, use shielding mesh.

  • If not improving, contact Delta.
AL029

Gray code error
Cause:

The internal address of the encoder is in error.



Remedy:


  • Re-power on to operate the motor.

  • If the alarm occurs again, please change the encoder.
AL030
Motor Crash Error
Cause: Motor Crash Error.

Check: 1. Check if P1-57 is enabled. 2. Check if P1-57 is set too small and the time of P1-58 is set too short.



Remedy:

  • If it is enabled by mistake, please set P1-57 to zero.

  • According to the actual torque setting, if the value is set too small, the alarm will be triggered by mistake. However, if the value is set too big, it will lose the function of protection.
AL031
Incorrect wiring of the motor power line U, V, W, GND
Cause: The wiring of U, V, W of the motor is incorrectly connected or disconnected. (The switch for cut-off detection is set by P2.065 Bit 9, which default is set to disable).

Check: Check if U, V, W of the motor is incorrectly connected or disconnected.



Remedy:

  • Follow the user manual to correctly wire U, V, W and make sure it is grounded.
AL040
Excessive deviation of full closed-loop position control
Cause: Excessive deviation of full closed-loop position control.

Check: 1. Check if P1-73 is set too small. 2. Check if the connector is loose or there is any connection problem of other mechanism.



Remedy:

  • Increase the value of P1-73.

  • Check if the connection is well connected.
AL041
Communication of linear scale is breakdown
Cause: The communication of linear scale is breakdown.

Check: Check the communication of linear scale.



Remedy:

  • Check the communication of linear scale again.
AL044
Warning of Servo Drive function overload
Cause: Warning of Servo Drive function overload.




Remedy:

  • Set P2-66 Bit 4 to 1 can disable the display of this alarm.
AL060
The absolute position is lost
Cause:

  • Battery undervoltage (lower than 2.8 V).

  • Change the battery when the power is OFF (controlled by servo drive).

  • Absolute coordinate initialization has not been completed.

  • Bad connection of the battery power circuit.


Check: Check battery wiring, encoder wiring, and battery voltage.



Remedy:

  • Do not change or remove the battery power when the power is OFF which is controlled by the servo drive.

  • Connect or repair the wiring of the battery so as to supply the power to the encoder.

  • After changing the battery or fixing wiring, conduct homing procedure again.

  • Please refer to the description of absolute coordinate initialization in Chapter 12.
AL061
Encoder under voltage
Cause: The voltage of the absolute encoder is lower than the specification.

Check: Check if the voltage of the battery on the panel is lower than 3.1 V (tentative).



Remedy:

  • Change the battery when power is ON which is controlled by the servo drive.

  • After changing the battery, AL061 will be cleared automatically.
AL062
The multi-turn of absolute encoder overflows
Cause: The multi-turn of absolute encoder exceeds the maximum range: -32768 ~ +32767.

Check: Check if the operation distance exceeds the range the absolute encoder is able to record.



Remedy:

  • Conduct homing procedure again.

  • Please refer to the description of absolute coordinate initialization in Chapter 12.
AL067
Encoder temperature warning
Cause: Encoder temperature exceeds the warning level (but is still within the protective range).

Check: Check if the ventilation devices are normal.



Remedy:

  • Lower the temperature of the encoder.
AL069
Wrong motor type
Cause: Incremental motor is not allowed to activate the absolute function.

Check: 1. Check if the motor is incremental or absolute. 2. Check the setting of P2-69.



Remedy:

  • If users desire to use absolute function, please choose absolute motor.

  • If not, please set parameter P2-69 to 0.
AL070
Encoder does not complete the command which is issued by servo drive
Cause: Servo drive has not completely written barcode into encoder or the encoder does not complete the command issued by servo drive.

Check: Check if the wiring is correct or there is any loose connection.



Remedy:

  • Correct the wiring.
AL081
Excessive deviation between two axes of the gantry
Cause: The deviation of two selected axes of the gantry exceeds the setting value of P2-59 during operation.

Check: 1. Check if the value of P2-59 is set too small. 2. Check if the connection is loose or there is any connection problem of gantry mechanism.



Remedy:

  • Increase the value of P2-59.

  • Check if the connection is well connected.
AL082
Abnormal Gantry selection
Cause: When enabling gantry function, not select any two axes as the operation axis. Then the error occurs.

Check: Check if the value of P2-58 which can operate the two axes of the gantry is correct.



Remedy:

  • Check the setting of parameter P2-58 again.
AL099
DSP firmware upgrade
Cause: Upgrade DSP firmware.

Check: Check if the firmware is upgraded.



Remedy:

  • Firstly set P2-08 to 30. Then set P2-08 to 28, the alarm will be cleared when re-power on.
AL111
CANopen SDO receives overflow
Cause: SDO Rx Buffer overflow (receives more than two SDOs within 1 ms).

Check: Check if the servo drive receives (sends) more than one SDO within 1ms.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL112
CANopen PDO receives overflow
Cause: PDO Rx Buffer overflow (receives more than two PDOs of COBID within one millisecond).

Check: Check if the servo drive receives (sends) more than one PDO of COBID within 1 ms.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL121
Index error occurs when accessing CANopen PDO
Cause: The specified Index in the message does not exist.

Check: Check if the Entry Index of PDO Mapping is modified when PDO is receiving or sending.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL122
Sub-Index error occurs when accessing CANopen PDO
Cause: The specified Sub-Index in the message does not exist.

Check: Check if the Entry Sub-index of PDO Mapping is modified when PDO is receiving or sending.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL123
Data Size error occurs when accessing CANopen PDO
Cause: The data length in the message does not match to the specified object.

Check: Check if the data length of Entry of PDO Mapping is modified when PDO is receiving or sending.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL124
Data range error occurs when accessing CANopen PDO
Cause: The data value in the message is over the range of the specified object.

Check: Check if the written range is wrong when PDO is receiving or sending.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL125
CANopen PDO Object is read-only and write-protected
Cause: The specified object in the message is write-protected.

Check: Check if the specified object is read-only when PDO is receiving or sending.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL126
CANopen PDO Object is not allowed in PDO
Cause: The specified object in the message does not support PDO.

Check: Check if the specified object allows PDO Mapping when PDO is receiving or sending.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL127
CANopen PDO Object is write-protected when Servo On
Cause: The specified object in the message is write-protected when Servo ON.

Check: Check that when PDO is receiving or sending, if the specified object is write-protected when Servo On.



Remedy:

  • NMT: Reset node or 0x6040.Fault Reset
AL128
Error occurs when reading CANopen PDO object via EEPROM
Cause: An error occurs when loading the default value via ROM at start-up. All objects of CAN returns to the default value automatically.

Checking Method: When PDO is receiving or sending, check if the error occurs because the specified object reads EEPROM.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL129
Error occurs when writing CANopen PDO into EEPROM
Cause: An error occurs when saving the current value into ROM.

Checking Method: When PDO is receiving or sending, check if the error occurs because the specified object is wrote into EEPROM.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL130
The accessing address of EEPROM is out of range when using CANopen PDO object
Cause: The quantity of the data inside ROM is over the planned space. It is probably because the software has been updated. The data inside ROM is stored by the old version.

Checking Method: Check that when PDO is receiving or sending, if the specified object enables EEPROM address exceeds the limit.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL131
CRC of EEPROM calculation error occurs when using CANopen PDO object
Cause: It means the data stored in ROM is damaged. All CANopen objects automatically returns to the default value.

Checking Method: Check if the specified object would cause CRC calculation error in EEPROM when PDO is receiving or sending.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL132
Enter the incorrect password when using CANopen PDO object
Cause: When entering parameters via CAN, parameters are password-protected. Users have to decode the password first.

Checking Method: Check if the specified object enters the wrong password when PDO is receiving or sending.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL185
Abnormal CAN Bus hardware
Cause: Abnormal CAN Bus hardware.

Checking Method:
1. Check if the communication cable of CAN Bus is good.
2. Check if the communication quality is good (common grounding and shielded cable suggested).



Remedy:

  • NMT: Reset node.

  • Re-servo on.
AL201
An error occurs when loading CANopen data
Cause: An error occurs when loading CANopen data.

Checking Method:

1. If alarm clears when re-servo on, data error was instantaneous.

2. If error persists, EEPROM data is damaged.



Remedy:

  • If user desires to enter default value: Set P2-08 to 30, 28 or CANopen object as 0x1011.

  • If user desires to enter current value: Set CANopen object to 0x1010.

  • DI: ARST, CANopen 0x1011 (Restore default parameter).
AL207
Parameter group of PR#8 is out of range
Cause: The group of PR#8 command source, P_Grp exceeds the range.

Checking Method: Writing parameter via PR procedure: The parameter group of command source exceeds the range.



Remedy:

  • DI: ARST, CANopen 0x1011.

  • Restore default parameter.
AL209
Parameter number is out of range
Cause: Parameter number P_Idx of PR#8 command exceeds the range.

Checking Method: Writing parameter via PR procedure: The parameter number of command source exceeds the range.



Remedy:

  • DI: ARST, CANopen 0x1011.

  • Restore default parameter.
AL213 ~ AL219
An error occurs when writing parameter via PR
Cause: PR commands TYPE 8 Error occurs when writing parameters.

Checking Method:

AL213: parameter exceeds the range.

AL215: the parameter is read-only.

AL217: Servo ON or invalid value.

AL219: Servo ON or invalid value.



Remedy:

  • AL213/AL215: DI: Alm Reset or P0-01 = 0.

  • AL217/AL219: Re-adjust PR command and parameters.
AL231
The setting of monitoring item of PR#8 is out of range
Cause: The setting of monitoring item of PR#8, Sys_Var exceeds the range.

Checking Method: Writing parameter via PR procedure: The monitor item number of command source exceeds the range.



Remedy:

  • DI: ARST, CANopen 0x1011.

  • Restore default parameter.
AL235
PR command overflows
Cause: PR command error. PR mode continuously operates in one direction and causes feedback register overflows.

Checking Method: The coordinate system cannot reflect the correct position. If issuing the absolute positioning command (except incremental) at this time, the error will occur.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL245
PR positioning is over time
Cause: PR positioning is over time.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL249
The number of PR command exceeds the range
Cause: The number of PR command exceeds the range.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL261
Index error occurs when accessing CANopen object
Cause: The specified Index in the message does not exist.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL263
Sub-Index error occurs when accessing CANopen object
Cause: The specified Sub-Index in the message does not exist.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL265
Data size error occurs when accessing CANopen object
Cause: The data length in the message does not match to the specified object.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL267
Data range error occurs when accessing CANopen object
Cause: The data in the message is over the range of the specified object.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL269
CANopen object is read-only and write-protected
Cause: The specified object in the message is write-protected.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL26b
CANopen PDO Object is not allowed in PDO
Cause: The specified object in the message does not support PDO.

Checking Method: This alarm will not occur at the moment. If it does, please contact the distributors.



Remedy:

  • NMT: Reset node.

  • 0x6040.Fault Reset.
AL26d

CANopen object is write-protected when Servo On
Cause:

The specified object in the message is write-protected when Servo ON.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL26F

Error occurs when reading CANopen object via EEPROM
Cause:

An error occurs when loading the default value via ROM at start-up. All objects of CAN returns to the default value automatically.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL271

Error occurs when writing CANopen object via EEPROM
Cause:

An error occurs when saving the current value into ROM.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL273

The accessing address of EEPROM is out of range when using CANopen object
Cause:

The quantity of the data inside ROM is over the planned space. It is probably because the software has been updated. The data inside ROM is stored by the old version. Thus, it cannot be used.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL275

CRC of EEPROM calculation error occurs when using CANopen object
Cause:

It indicates that the data stored in ROM has been damaged. All objects of CAN will return to the default settings automatically.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL277

Enter the incorrect password when using CANopen object
Cause:

When entering parameters via CAN, the parameters are password-protected. Users have to decode the password first.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL283

Forward Software Limit
Cause:

Forward Software Limit is determined by the position command, not the actual feedback position. It is because the command will arrive first and then the feedback.



Remedy:

When the protection function is activated, the actual position might not over the limit. Therefore, setting an appropriate decelerating time could satisfy the demand. Please refer to the description of parameter P5-03.

NMT: Reset node or 0x6040.Fault Reset
AL285

Reverse Software Limit
Cause:

Reverse Software Limit is determined by the position command, not the actual feedback position. It is because the command will arrive first and then the feedback.



Remedy:

When the protection function is activated, the actual position might not over the limit. Therefore, setting an appropriate decelerating time could satisfy the demand. Please refer to the description of parameter P5-03.

NMT: Reset node or 0x6040.Fault Reset
AL289

Feedback position counter overflows
Cause:

Feedback position counter overflows.



Remedy:

This alarm will not occur at the moment. If it does, please contact the distributors.

NMT: Reset node or 0x6040.Fault Reset
AL291

Servo OFF Error
Cause:

Servo OFF error.



Remedy:


  • Check if the wiring if DI.SERVO ON is correct.

  • Check if the controller servo on the drive too early.


NMT: Reset node or 0x6040.Fault Reset
AL301

CANopen fails to synchronize
Cause:

CANopen fails to synchronize.



Remedy:


  • Check if the communication quality of the circuit is bad.

  • Check if the controller sends SYNC signal successfully.

  • Check if the setting of P3-09 is reasonable. (It is better to use the default value).


NMT: Reset node or 0x6040.Fault Reset
AL302

The synchronized signal of CANopen is sent too fast
Cause:

The synchronized signal of CANopen is sent too fast.



Remedy:


  • Check if synchronized cycle 0x1006 is the same as the setting of controller.

  • Check if the setting of P3-09 is reasonable. (It is better to use the default value.)

  • Check if the order of controller is incorrect.


NMT: Reset node or 0x6040.Fault Reset
AL303

The synchronized signal of CANopen is sent too slow
Cause:

The synchronized signal of CANopen is sent too slow.



Remedy:


  • Check if the communication quality of the circuit is bad.

  • Check if synchronized cycle 0x1006 is the same as the setting of controller.

  • Check if the setting of P3-09 is reasonable. (It is better to use the default value.)

  • Check if the order of controller is incorrect.


NMT: Reset node or 0x6040.Fault Reset
AL304

CANopen IP command fails
Cause:

CANopen IP command fails.



Remedy:

The calculating time of IP mode takes too long. Please disable USB monitoring function.

NMT: Reset node or 0x6040.Fault Reset
AL305

SYNC Period is in error
Cause:

SYNC Period is in error.



Remedy:

Examine the content of 0x1006. If it is smaller than or equals to 0, the alarm will occur.

NMT: Reset node or 0x6040.Fault Reset
AL380

Position Deviation Alarm
Cause:

DO.MC_OK is ON and becomes OFF.



Remedy:

Please refer to the description of parameter P1-48.

After DO.MC_OK ON, DO.MC_OK becomes OFF because DO.TPOS turns OFF. The position of the motor might be deviated by the external force after positioning. This alarm can be cleared by P1-48.Y = 0.

DI: Alm Reset or P0-01 = 0
AL555

System Failure
Cause:

DSP processing error.



Remedy:

If AL555 occurs, please do not switch and send the drive back to the distributor or contact with Delta.