Delta ASDA-E3 Series Servo Drive

Delta ASDA-E3 Series Servo Drive Fault Codes:

Fault Code and MeaningCause and Remedy
AL001
Overcurrent
Cause:


  1. The servo drive output is short-circuited.

  2. Motor wiring is in error.

  3. IGBT is abnormal.




Remedy:


  1. Check connection between motor and servo drive; ensure wire is not short-circuited. Check wiring sequence.

  2. Check if heat sink temperature is abnormal. Check if internal parameters are much greater than default (reset to factory if needed).

  3. Clear alarm with DI.ARST.
AL002
Overvoltage
Cause:


  1. Input voltage of main circuit is higher than allowable rated value.

  2. Incorrect power input (incorrect power system).

  3. Malfunction of servo drive hardware.

  4. Incorrect selection of or no connection to external regenerative resistor.




Remedy:


  1. Use voltmeter to check input voltage. Use correct power source or transformer.

  2. If voltage is normal but alarm persists, contact distributor/Delta.

  3. Check connection for regenerative resistor and re-calculate resistance. Set P1.052 and P1.053 correctly.

  4. Clear alarm with DI.ARST.
AL003
Undervoltage
Cause:


  1. Input voltage of main circuit is lower than allowable rated value.

  2. No voltage input to main circuit.

  3. Incorrect power input.




Remedy:


  1. Check wiring of power supply.

  2. Check switch of power supply and measure voltage.

  3. Use voltmeter to check if power system complies with specifications.

  4. Clear based on P2.066 settings (Automatic or DI.ARST).
AL004
Motor combination error
Cause:


  1. Wrong motor is connected to the servo drive.

  2. Encoder connector is loose.

  3. Encoder is damaged.




Remedy:


  1. Use the right motor.

  2. Check and re-install the encoder connector.

  3. If encoder is not operating properly, replace motor.

  4. Cycle power on the servo drive to clear.
AL005
Regeneration error
Cause:


  1. Incorrect selection/connection of regenerative resistor.

  2. P1.053 (Regenerative resistor capacity) is not set to 0 when no resistor is connected.

  3. Incorrect parameter settings for P1.052 and P1.053.




Remedy:


  1. Check connection and recalculate resistance. Correctly set P1.052 and P1.053.

  2. Set P1.053 to 0 if not using a regenerative resistor.

  3. Clear alarm with DI.ARST.
AL006
Overload
Cause:


  1. Load is over rated range (continuous overload).

  2. Improper control system parameter settings.

  3. Motor wiring error.

  4. Encoder error.




Remedy:


  1. Monitor average load rate (Set P0.002 to 12). Increase motor capacity or reduce load.

  2. Check for mechanical vibration or drastic acceleration/deceleration settings.

  3. Check wiring of motor power cable and encoder cable.

  4. Send motor back to distributor if needed.

  5. Clear alarm with DI.ARST.
AL007
Excessive deviation of Speed command
Cause:


  1. Drastic change in input Speed command.

  2. Improper setting of P2.034.

  3. Incorrect wiring of motor power cable or encoder cable.




Remedy:


  1. Check input analog voltage signal. Adjust rate of change or enable filter.

  2. Check if P2.034 is set properly.

  3. Check wiring.

  4. Clear alarm with DI.ARST.
AL008
Abnormal pulse command
Cause:

Pulse command frequency is higher than the rated input frequency.



Remedy:


  1. Use scope to check input frequency.

  2. Input the pulse with the correct frequency.

  3. Clear alarm with DI.ARST.
AL009
Excessive deviation of Position command
Cause:


  1. Max allowable position deviation set too low.

  2. Gain value set too low.

  3. Torque/speed limit set too low.

  4. Excessive external load.

  5. Improper E-Gear ratio.

  6. Power cable loose.




Remedy:


  1. Check P2.035; set higher value if too low.

  2. Check if gain value is appropriate.

  3. Check internal speed/torque limits (P1.009-P1.014).

  4. Reduce external load or re-evaluate motor capacity.

  5. Check P1.044 and P1.045 settings.

  6. Check if power cable is loose.

  7. Clear alarm with DI.ARST.
AL010
Voltage error during regeneration
Cause:


  1. Regenerative voltage remains at 400V (incorrect resistor or no resistor connected).

  2. P1.053 is not set to 0 when resistor is not connected.




Remedy:


  1. Check connection for regenerative resistor. Correctly set P1.052 and P1.053.

  2. Set P1.053 to 0 if not using a regenerative resistor.

  3. Clear alarm with DI.ARST.
AL011
CN2 communication failed
Cause:


  1. CN2 wiring incorrect.

  2. CN2 connector loose.

  3. Wiring poor or interference.

  4. Encoder damaged.

  5. Unsupported motor.




Remedy:


  1. Check wiring against manual.

  2. Reconnect CN2 connector if loose.

  3. Check grounding and shielding. Ensure encoder cable is shielded and grounded.

  4. Replace motor if issue persists.

  5. Cycle power on servo drive to clear.
AL012
Calibration error
Cause:


  1. Analog input contact not returned to zero.

  2. Detection device damaged.




Remedy:


  1. Check if voltage level at analog input contact is same as ground potential.

  2. Cycle power and execute calibration again.

  3. Remove connection cable for CN1 and then execute auto calibration.
AL013
Emergency stop
Cause:

The emergency stop button is pressed.



Remedy:

Make sure the emergency stop button is off. Set DI.EMGS to off to clear.
AL014
Negative limit error
Cause:


  1. Negative limit switch is triggered.

  2. Servo system is unstable.




Remedy:


  1. Make sure negative limit switch is off.

  2. Check parameter setting or re-estimate motor capacity.

  3. Alarm automatically clears when motor moves away from limit.
AL015
Positive limit error
Cause:


  1. Positive limit switch is triggered.

  2. Servo system is unstable.




Remedy:


  1. Make sure positive limit switch is off.

  2. Check parameter setting or re-estimate motor capacity.

  3. Alarm automatically clears when motor moves away from limit.
AL016
Abnormal IGBT temperature
Cause:


  1. Load is over rated range (continuous overload).

  2. Servo drive output is short-circuited.




Remedy:


  1. Check for overload or motor overcurrent. Increase capacity or reduce load.

  2. Check if wiring of servo drive output is correct.

  3. Clear alarm with DI.ARST.
AL017
EEPROM error
Cause:


  1. Parameter writing error or value exceeds allowable range.

  2. Data in ROM is damaged or missing.




Remedy:


  1. Check panel display code (EXGAB). If parameter error: Modify value and cycle power.

  2. If ROM damage (E100X or E0001): Send drive back to distributor.

  3. If alarm occurs during operation, set DI.ARST to on.
AL018

OA and OB output error
Cause:

  • The resolution of the OA and OB pulses is set too high.

  • There is interference or damage to the encoder signal cable.

  • Encoder error.




Remedy:



  1. Correctly set parameters P1.076 and P1.046 following manual requirements.

  2. Check communication error rate (P0.002 set to -80). If error increases, check:

    • Proper motor grounding.

    • Encoder signal cable separation from power/high-current cables.

    • Use shielded encoder cable with properly grounded wire mesh.



  3. Check fault record (P4.000 – P4.004) for other alarms (AL011, AL024, AL025, AL026).

  4. If pulse output not needed, set P2.065 [Bit 13] to 1 to disable detection.
AL020

Serial communication timeout
Cause:

  • Improper setting for P3.004 (Modbus communication timeout).

  • Servo drive has not received communication command for a long time (timeout).




Remedy:



  1. Check and correctly set the value for the communication timeout parameter.

  2. Check if the communication cable is loose or disconnected and ensure correct wiring.
AL022

RST power error
Cause:

RST power cable is loose or there is no power. (Note: Warning by default. Set P2.066 [Bit 12] to 1 to make it an alarm).



Remedy:


Check if RST power cable is loose or no power.

  • For 1.5 kW or below: check if all three phases are connected.

  • For 2 kW or above: check if one single phase is not connected.

  • Correctly connect power. If issue persists, contact distributor/Delta.
AL023

Early overload warning
Cause:

Early overload warning.



Remedy:



  1. Check if motor is overloaded; refer to corrective actions of AL006.

  2. Check if P1.056 (Motor output overload warning level) is too low. Set higher or >100 to disable.
AL024

Encoder initial magnetic field error
Cause:

The initial magnetic field of the encoder U, V, W signal is in error.



Remedy:



  1. Check if motor is properly grounded (green/yellow wire to heat sink).

  2. Check encoder signal cable connection and separation from high-current cables.

  3. Use shielded cable and ground the wire mesh.

  4. Cycle power. If issue persists, contact distributor.
AL025

Encoder internal error
Cause:

  • Encoder internal error (memory/counter).

  • Motor rotates due to inertia when power applied.




Remedy:



  1. If interference: Check grounding, cable connection, separation, and shielding.

  2. Make sure motor shaft does not move when power is turned on.

  3. Cycle power on the servo drive.
AL026

Encoder unreliable internal data
Cause:

  • External interference.

  • Malfunction of encoder hardware.




Remedy:



  1. Check motor grounding.

  2. Check encoder cable connection and separation from power lines.

  3. Use shielded cable with grounded mesh.

  4. Check communication error rate (P0.002 to -80). If >0, re-check items above. If 0 and alarm persists, contact distributor.

  5. Cycle power.
AL027

Encoder internal reset error
Cause:

Encoder reset.



Remedy:



  1. Check for poor connection of encoder signal cable.

  2. Check if encoder power supply is stable; use shielded cable.

  3. Check if operating temperature is over 95°C (203°F). Cool down before restart.

  4. Cycle power. If issue persists, contact distributor.
AL028

Battery voltage error or encoder internal error
Cause:

  • Voltage level of battery is too high (> 3.8V).

  • Encoder internal error.




Remedy:



  1. Check for charging circuit issues (incorrect wiring of Pin 1 CN2).

  2. Check if battery is correctly installed.

  3. Check motor grounding.

  4. Check encoder cable connection/separation.

  5. Use shielded cable.

  6. Cycle power.
AL029

Gray code error
Cause:

Absolute position within a single revolution is in error.



Remedy:


Cycle power to operate motor. If alarm occurs again, replace encoder.
AL02A

Number of revolutions of the encoder is in error
Cause:

Internal signal of encoder is abnormal causing revolution count error.



Remedy:


Send your servo motor back to the distributor or contact Delta.
AL02B

Motor data error
Cause:

Accessing the internal data of the motor is in error.



Remedy:


Send your servo motor back to Delta.
AL02F

Blocked rotor protection
Cause:

  • Motor or mechanical part locked.

  • Motor running at extremely low speed or blocked for long time.




Remedy:



  1. Set motor speed higher to shorten duration of blocked rotor occurrence.

  2. Check if mechanical part is working normally.

  3. Check wiring of motor power and encoder cables.

  4. If issue persists, contact distributor.
AL030

Motor collision error
Cause:

Motor hits device, reaching torque value (P1.057) for duration (P1.058).



Remedy:



  1. Check if hard stop protection (P1.057) is enabled. If so, set to 0.

  2. Check if P1.057 is too low or P1.058 too short. Adjust according to actual torque.

  3. Cycle power. If issue persists, replace encoder.
AL031

Motor power cable wiring error
Cause:

Incorrect wiring of motor power cable (U, V, W) and ground. (Detection set by P2.065 [Bit 8]).



Remedy:


Check wiring of motor power cable and ground. Follow manual instructions. Cycle power.
AL032

Abnormal encoder vibration
Cause:

Abnormal vibration (internal signal or mechanical part abnormal).



Remedy:


Check if vibration exceeds 2.5 G. If within range but alarm occurs, contact distributor. Clear via DI.ARST or cycle power.
AL033

Motor is in error
Cause:

The encoder signal is in error.



Remedy:



  1. Check if encoder 5V power is lower than 4.3V.

  2. Check if cable complies with specifications.

  3. Check connection and separation of encoder signal cable.

  4. If issue persists, contact distributor.
AL034

Encoder internal communication error
Cause:

Internal communication error for absolute encoder or other internal error.



Remedy:



  1. Check if battery wiring is correct/loose. Wire again and cycle power.

  2. Check if battery voltage is within normal range.

  3. If internal communication error occurs, replace motor.
AL035

Encoder temperature exceeds protective range
Cause:

Encoder temperature is over 100°C (212°F).



Remedy:


Set P0.002 to -124 to read temperature. Improve heat dissipation. If difference between encoder and motor > 30°C, return motor. Cycle power once temp is < 100°C.
AL036

Encoder alarm status error
Cause:

Encoder sends alarm signal, but drive read status shows no error.



Remedy:



  1. Check motor grounding.

  2. Check encoder cable connection and separation from power cables.

  3. Use shielded cable with grounded mesh.

  4. Check motor speed is within rated range.

  5. Clear via DI.ARST or cycle power.
AL042

Voltage input for analog Speed command is too high
Cause:

Voltage input for the analog Speed command is higher than the level specified by P1.083.



Remedy:

Check and make sure the voltage source for the analog Speed command is correct. Check the value of P1.083, and if this function is not required, set it to 0.


To Clear: DI.ARST
AL044

Servo function operational warning
Cause:

Condition: too many motor control functions on the servo drive are enabled.

Cause: servo function operational alarm.



Remedy:


  1. If using a filter, see if using this filter is necessary.

  2. Disable the filter if it is not required (e.g., low-pass filter P1.006-P1.008, moving filter P1.068, vibration suppression, etc.).

  3. Set P2.066 [Bit 4] to 1 to disable this alarm.

  4. Cycle power on the servo drive.
AL045

E-Gear ratio value error
Cause:

The value of the E-Gear ratio exceeds the range (1 – 262144). The value is found to be in error after the servo drive is powered on.



Remedy:

Check if the value of the E-Gear ratio is within the allowable range (1 – 262144). If not, correct the value.


To Clear: Cycle power on the servo drive after correcting the value.
AL048

OA and OB output error
Cause:

The output frequency of the OA and OB pulses is higher than the maximum output frequency of the hardware.

1. Resolution of OA/OB pulses set too high.

2. Interference or damage to encoder signal cable.

3. Encoder error.



Remedy:


  1. Correctly set parameters P1.076 and P1.046 (refer to formula in manual).

  2. Check for interference (grounding, shielded cables).

  3. Check fault record (P4.000 – P4.004) for other alarms (AL011, AL024, etc.).

  4. If OA/OB pulses are not needed, set P2.065 [Bit 13] to 1 to disable detection.


To Clear: DI.ARST or Contact distributor.
AL053

Motor parameter error
Cause:

Motor parameter is in error.



Remedy:

Check the motor barcode in the Device Information screen of the ASDA-Soft or replace the motor.


To Clear: Cycle power on the servo drive.
AL056

Excessive motor speed
Cause:

Filtered motor speed exceeds the setting of P1.111.



Remedy:


  1. Check if P1.111 is too small or bandwidth is not set properly.

  2. Evaluate motor speed and mechanical parts. If allowable, increase P1.111.


To Clear: DI.ARST
AL05C

Motor position feedback error
Cause:

Sudden jumps occur to the motor position feedback.

1. Encoder feedback abnormal/damaged.

2. Encoder feedback interference.



Remedy:


  1. Use ASDA-Soft Scope function to monitor Feedback position [PUU] for jumps.

  2. Check for interference causing jumps.

  3. Check if communication error rate increases (monitor P0.009 by setting P0.017 to -80).


To Clear: Cycle power on the servo drive.
AL060

Absolute position is lost
Cause:

Losing recorded number of revolutions due to low battery or power loss.

1. Battery voltage too low.

2. Battery replaced while power off.

3. Battery not installed/poor connection.



Remedy:


  1. Check if battery voltage is below 2.9V. Replace battery while power is ON.

  2. Check wiring between battery box/encoder and servo drive.

  3. Re-establish absolute origin position (Refer to Section 10.3.4).
AL061

Encoder undervoltage
Cause:

Battery voltage of absolute encoder is lower than rated value (3.1V).



Remedy:

Check voltage (monitoring variable 26h) or measure physically. Replace battery while power is ON if too low.


To Clear: Automatically cleared when voltage > 3.1V.
AL062

Number of revolutions of the absolute encoder overflows (issued by encoder)
Cause:

Revolutions exceed range -32768 to +32767. Motor rotation cycle exceeds allowable range.



Remedy:

Check if number of revolutions is within range. If not, re-establish the absolute origin position.


To Clear: Cycle power on the servo drive.
AL064

Encoder vibration warning
Cause:

Abnormal vibration in encoder. Internal signal or mechanical part is abnormal.



Remedy:

Check if motor vibration is within warning range (2.0 to 2.5 G). If vibration is low but alarm persists, contact Delta.


To Clear: DI.ARST or cycle power.
AL066

Number of revolutions of the absolute encoder overflows (issued by servo drive)
Cause:

Revolutions (P0.051) exceed half the encoder resolution number of revolutions.



Remedy:

1. Check if revolutions are within range. Re-establish absolute origin if needed.

2. Set P2.069.Z to 1 to enable function for preventing rotary axis position loss.


To Clear: Re-establish the absolute origin position.
AL067

Encoder temperature warning
Cause:

Encoder temperature is over 85°C but under 100°C.



Remedy:

Set P0.002 to -124 to read encoder temperature. Improve heat dissipation. If temp difference between encoder and motor > 30°C, contact Delta.


To Clear: Cycle power on the servo drive.
AL068

Absolute data transmitted by I/O is in error
Cause:

Time sequence is wrong when reading absolute position by DI/O, or reading timeout.



Remedy:

1. Correct time sequence: DI.ABSQ follows DO.ABSR status.

2. Check duration logic (read DO.ABSD within 200ms after DO.ABSR switches on).


To Clear: Cycle power on the servo drive.
AL069

Wrong motor type
Cause:

Incremental motor does not support absolute function.



Remedy:

1. Check if motor is incremental or absolute.

2. Set P2.069.X to 0 if operating absolute motor as incremental.


To Clear: Set P2.069.X to 0 and cycle power.
AL06A

Absolute position is lost
Cause:

1. Absolute position not established (First time use, battery drained, E-Gear modified).

2. Error occurred (Encoder cable damaged, momentary power failure, J1/J2 reversely connected, Batt voltage < 2.9V).



Remedy:


  1. Check if absolute origin is established (Sec 10.3.1).

  2. Replace battery while power is ON.

  3. Re-establish absolute origin.

  4. Check encoder cable/wiring.

  5. Ensure J1 connected to battery, J2 to drive.


To Clear: Automatically cleared after establishing absolute origin position.
AL06B

Error between servo drive internal position and encoder position is too large
Cause:

When powered by battery, motor rotations exceeded limits or mechanical parts moved during transport.



Remedy:

Re-establish the absolute origin position.
AL06E

Encoder type is unidentifiable
Cause:

The servo drive cannot identify the encoder type.



Remedy:

Replace the motor immediately.
AL06F

The absolute position is not established
Cause:

Establishment of absolute position timed out.



Remedy:

Cycle power and re-establish absolute origin. If issue persists, contact distributor.
AL06F

The absolute position is not established
Cause: Absolute origin position is lost or not established.



Remedy:

  • Cycle power on the servo drive and re-establish the absolute origin position.
AL070

Encoder did not complete the read / write procedure
Cause: Reading and writing commands are not complete.



Remedy:

  • Check if the wiring is correct and firmly connected. If not, correctly connect the wire again.

  • Contact Delta if this error persists.

  • To clear: Cycle power on the servo drive.
AL071

Number of revolutions of the encoder is in error
Cause: The internal signal of the encoder is abnormal, causing error in the number of revolutions of the encoder.



Remedy:

  • Execute DI.ARST (Alarm Reset).

  • If the issue persists, send your servo motor back to the distributor or contact Delta.
AL072

Encoder overspeed
Cause:

  1. Encoder speed is over 8,800 rpm when powered by the servo drive.

  2. Encoder speed is over 10,000 rpm when powered by the battery.

  3. Battery voltage is too low.




Remedy:

  • Check if the motor is properly grounded (ground end yellow/green to heat sink).

  • Check connection for encoder signal cable. Ensure separation from power supply/high-current cables.

  • Use shielded cable for the encoder cable; ensure wire mesh is grounded.

  • Check motor speed is within rated range.

  • Measure battery voltage (check if below 3.1V) and check battery wiring contact.

  • To clear: Cycle power on the servo drive.
AL073

Encoder memory error
Cause: An error occurs when the encoder is reading data from or writing data to EEPROM.



Remedy:

  • Check proper motor grounding.

  • Check encoder signal cable connection and separation from interference sources.

  • Use shielded cable and ground the wire mesh.

  • Check if motor speed is within rated range.

  • If issue persists, contact Delta.

  • To clear: Cycle power on the servo drive.
AL074

Encoder single-turn absolute position is in error
Cause: The single-turn position in the encoder is in error.



Remedy:

  • Check proper motor grounding.

  • Check encoder signal cable connection and separation from interference sources.

  • Use shielded cable and ground the wire mesh.

  • Check if motor speed is within rated range.

  • If issue persists, contact Delta.

  • To clear: Cycle power on the servo drive.
AL075

Encoder absolute number of revolutions is in error
Cause: The absolute number of revolutions in the encoder is in error.



Remedy:

  • Check proper motor grounding to heat sink.

  • Check encoder signal cable connection and interference separation.

  • Use shielded cable and ground the wire mesh.

  • Check if motor speed is within rated range.

  • To clear: Cycle power on the servo drive.
AL077

Encoder internal error
Cause: Encoder internal error (internal computing error).



Remedy:

  • Check proper motor grounding to heat sink.

  • Check encoder signal cable connection and interference separation.

  • Use shielded cable and ground the wire mesh.

  • Check if motor speed is within rated range.

  • To clear: Cycle power on the servo drive.
AL079

Encoder parameter setting incomplete
Cause: The servo drive is not cycled after the encoder parameter is written to the encoder, so the parameter value is not updated.



Remedy:

  • Check if the encoder parameter is written. If so, cycle power to have the parameter setting take effect.

  • To clear: Cycle power on the servo drive.
AL07A

Encoder Z phase position is lost
Cause: Encoder Z phase position is in error.



Remedy:

  • Send your servo motor back to the distributor or contact Delta.

  • N/A for clearing alarm (requires repair).
AL07B

Encoder memory is busy
Cause: The encoder memory is busy.



Remedy:

  • Check proper motor grounding.

  • Check encoder signal cable connection and interference separation.

  • Use shielded cable and ground the wire mesh.

  • Check if motor speed is within rated range.

  • To clear: Cycle power on the servo drive.
AL07C

Command to clear the absolute position is issued when motor speed > 200 rpm
Cause: The command to clear the absolute position is issued when the motor speed is over 200 rpm.



Remedy:

  • Reduce the motor speed to 200 rpm or lower, then follow the procedure for clearing the absolute position.

  • Do not issue the command when speed is over 200 rpm.

  • To clear: DI.ARST or cycle power on the servo drive.
AL07D

Motor stops operating when servo drive power is cycled before AL07C is cleared
Cause: AL07C occurs and is not cleared before the power is cycled on the servo drive, and the motor stops operating.



Remedy:

  • Use DI.ARST to clear the alarm.

  • Once this alarm is cleared, AL07C occurs. Follow the checking method and corrective action to clear AL07C.

  • To clear: DI.ARST or cycle power on the servo drive.
AL07E

Error occurs when the encoder clears the procedure
Cause: The number of retry attempts for the encoder to clear the procedure exceeds 11 times.



Remedy:

  • Set P0.002 to -80 to check communication quality.

  • If communication is normal, use DI.ARST to clear.

  • To clear: DI.ARST or cycle power on the servo drive.
AL07F

Encoder version error
Cause: The encoder version read by the servo drive is in error.



Remedy:

  • Replace the motor immediately.
AL083

Servo drive outputs excessive current
Cause:

  1. UVW of the servo drive is short-circuited.

  2. Motor wiring is in error.

  3. The GND for analog signal of the servo drive is interfered.




Remedy:

  • Check motor power cable/connector. Replace if exposed or torn to avoid short circuit.

  • Check wiring: Ensure UVW sequence is correct and connections are secure.

  • Check analog GND: Do not share with other signal sources to avoid interference.

  • To clear: DI.ARST.
AL085

Regeneration setting error
Cause: Regeneration control error. Regenerative resistor is not operating, but the regenerative voltage remains at 400V.



Remedy:

  • Check connection for regenerative resistor.

  • Re-calculate resistance value.

  • Correctly set P1.052 and P1.053.

  • If issue persists, contact Delta.

  • To clear: DI.ARST.
AL086

Regenerative resistor overload
Cause:

  1. Incorrect selection/no connection to external regenerative resistor.

  2. Incorrect parameter settings for P1.052 and P1.053.

  3. Interference input or input voltage higher than allowable rated voltage.

  4. Malfunction of servo drive hardware.




Remedy:

  • Check resistor connection and P1.052/P1.053 settings.

  • If energy exceeds P1.053, replace resistor with higher capacity.

  • Use voltmeter to check input voltage (see Appendix A). Remove interference.

  • Measure voltage between P3 and (-) terminals. If it mismatch DC Bus voltage (when P0.002=14), drive may be malfunctioning.

  • Use scope with differential probe to check for high-frequency signal interference.

  • To clear: DI.ARST.
AL088

Servo function operational alarm
Cause: Too many motor control functions on the servo drive are enabled.



Remedy:

  • If using a filter, see if it is necessary.

  • Disable filters if not required (low-pass P1.006-P1.008, moving filter P1.068, low-freq vibration suppression P1.025-P1.028, etc).
AL089

Current detection interference
Cause: Current detection in the servo drive is affected by an external interference source.



Remedy:

  • Check environment for interference sources.

  • Remove interference or move servo drive away.

  • Set P2.112 [Bit 1] to 0 to disable AL089.

  • If issue persists, contact Delta.
AL08A

Auto tuning function – command error
Cause: No command issued within 15 seconds after starting auto tuning.

  1. Controller/Position register did not issue command.

  2. Position 1 and Position 2 specify same position.

  3. Signal cable not connected correctly.




Remedy:

  • Make sure a command is being issued.

  • Set Position 1 and Position 2 again.

  • Check wiring between controller and servo drive.

  • To clear: DI.ARST.
AL08B

Auto tuning function – dwell time is too short
Cause: Dwell time in the cycle is too short for the algorithm to perform calculation.



Remedy:

  • For reciprocating motion: Pause on return must be > 1 second.

  • For single direction rotation: Pause required after certain cycles (> 2 cycles).

  • To clear: DI.ARST.
AL08C

Auto tuning function – inertia estimation error
Cause:

  1. Accel/Decel time too long.

  2. Rotation speed too low.

  3. Load inertia too large.

  4. Drastic variation in machine inertia.




Remedy:

  • Accel/Decel (0 to 3000 rpm) must be within 1.5 seconds.

  • Set speed to 500 rpm or higher (no less than 200 rpm).

  • Load inertia should be less than 50 times motor inertia.

  • Avoid applications with drastic inertia variation.

  • To clear: DI.ARST.
AL095

Regenerative resistor is disconnected or regenerative circuit is in error
Cause:

1. The value of P1.053 (Regenerative resistor capacity) is greater than 0, but no external regenerative resistor is connected.

2. The regenerative circuit is in error.



Remedy:

1. Ensure to connect the regenerative resistor to the servo drive and check if the value of P1.053 is correct.

2. If the servo drive does not have a built-in regenerative resistor and does not need an external regenerative resistor, set P1.053 to 0.

3. Check if the regenerative resistor is disconnected.

4. If the issue persists, send your servo drive back to the distributor or contact Delta.


How to clear: DI.ARST
AL099

DSP firmware error
Cause:

EEPROM is not reset after DSP firmware is updated.



Remedy:

Check if the firmware is updated. If so, set P2.008 to 30, 28, and then cycle power on the servo drive. Contact Delta if this error persists.


How to clear: Set P2.008 to 30, 28, and then cycle power on the servo drive.
AL09C

Parameter reset failed
Cause:

Condition: the parameter reset process is not complete.

An error occurred during the parameter reset process, so the reset process could not be completed.



Remedy:

Check if the power is cut off during the reset process. Check the power wiring and switch.


How to clear: Set P2.008 to 30, 28, and then cycle power on the servo drive.
AL0A6

Absolute positions of the servo drive and motor do not match
Cause:

Condition: suppose there are servo drive A, servo motor A, servo drive B, and servo motor B. Servo drive A and servo drive B have established the absolute origin positions with servo motor A and servo motor B respectively. In this case, if you operate servo drive A with servo motor B, AL0A6 will be triggered.

Replace the servo drive or servo motor.



Remedy:

Re-establish the absolute origin position.


How to clear: Re-establish the absolute origin position.
AL111

Buffer overflow occurs when SDO is received
Cause:

SDO Rx Buffer overflows (more than two SDOs are received within 1 ms).



Remedy:

Check if the servo drive or the master receives or sends more than one SDO within 1 ms.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL112

Buffer overflow occurs when PDO is received
Cause:

PDO Rx Buffer overflows (more than two PDOs of the same COB-ID are received within 1 ms).



Remedy:

Check if the servo drive or the master receives or sends more than one PDO of the same COB-ID within 1 ms.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL113

TxPDO transmission failed
Cause:

PDO packet cannot be successfully sent.



Remedy:

Check if the communication circuit of the servo drive works normally.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL121

Object’s index does not exist when PDO is accessed
Cause:

When the servo drive receives the PDO from the controller, the specified object’s index number is incorrect, so the servo drive cannot identify it.



Remedy:

1. Check if the object’s index number for PDO mapping of the controller is correct.

2. If the index number is correct, it means this specified object is not supported by the servo drive. Check if it is necessary to use this object or if you can substitute it with a different object.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL122

Object’s sub-index does not exist when PDO is accessed
Cause:

When the servo drive receives the PDO from the controller, the specified object’s sub-index number is incorrect, so the servo drive cannot identify it.



Remedy:

1. Check if the object’s sub-index number for PDO mapping of the controller is correct.

2. If the sub-index number is correct, it means this specified object is not supported by the servo drive. Check if it is necessary to use this object or if you can substitute it with a different object.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL123

Data length error occurs when PDO is accessed
Cause:

Data length in the message does not match the length of the specified object.



Remedy:

Check if the data length of PDO mapping entry is changed when the servo drive receives or sends the PDO.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL124

Data range error occurs when PDO is accessed
Cause:

The data value in the message exceeds the range of the specified object.



Remedy:

Check if the written data is within range when the servo drive receives or sends the PDO.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL125

PDO object is read-only and write-protected
Cause:

The specified object in the message is read-only and write-protected.



Remedy:

Check if the object for PDO mapping is read-only.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL126

Specified object does not support PDO mapping
Cause:

The specified object does not support PDO mapping.



Remedy:

Check if the specified object supports PDO mapping when the servo drive receives or sends the PDO.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL127

PDO object is write-protected when servo drive is on
Cause:

PDO object is write-protected (unchangeable) when the servo drive is on.



Remedy:

Make sure no specified object is written when the servo drive receives or sends the PDO in the Servo On state.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL128

Error occurs when PDO object is read from EEPROM
Cause:

An error occurs when the default value is loaded from ROM at start-up. All objects are automatically restored to default values.



Remedy:

Check if an error occurs because the specified object is read from EEPROM when the servo drive receives or sends the PDO.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL129

Error occurs when PDO object is written to EEPROM
Cause:

An error occurs when the PDO object is written to EEPROM.



Remedy:

Check if an error occurs because the specified object is written to EEPROM when the servo drive receives or sends the PDO.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL130

Accessing address of EEPROM is out of range
Cause:

The amount of data in the ROM exceeds the allowable capacity specified by the firmware. It is probably because the firmware has been updated, but the data in the ROM was stored by the previous firmware version.



Remedy:

Check if the specified object causes the accessing address in EEPROM exceeds the range when the servo drive receives or sends the PDO.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL131

EEPROM CRC calculation error
Cause:

The data in ROM is damaged. All objects are automatically restored to default values.



Remedy:

Check if the specified object causes a CRC calculation error in EEPROM when the servo drive receives or sends the PDO. Usually, this alarm is caused by an error in DSP.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL132

Parameter is write-protected
Cause:

When data is written to the parameter using bus communication, the parameter is currently write-protected.



Remedy:

Refer to the corresponding parameter description to write data to the parameter.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL170

Bus communication timeout
Cause:

The servo drive does not receive any PDO data within the set communication cycle time.



Remedy:

1. Check if the communication is normal.

2. Check if the wiring is correctly connected.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL180

Bus communication timeout
Cause:

The servo drive does not receive any PDO data within the set communication cycle time.



Remedy:

1. Check if the communication is normal.

2. Check if the wiring is correctly connected.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL185

Bus hardware error
Cause:

Condition: bus communication is cut off.

Cause: abnormal communication hardware.



Remedy:

1. Check if the communication cable is intact and firmly connected.

2. Check the communication quality; it is suggested that you use common grounding and shielded cable.

3. For communication type models, check if the value of monitoring variable 120 increases continuously.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL186

Bus data transmission error
Cause:

Bus data transmission error.



Remedy:

1. Check if the communication cable is properly connected and whether there is any noise interference. Replace the communication cable or eliminate the noise if necessary.

2. There are an excessive number of slave stations and the communication cycle time is too short. Lengthen the communication cycle.


How to clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL201

Initialization error of object dictionary data
Cause:

Condition: an error has occurred when the servo drive loads data from EEPROM.

Cause: initialization error of CANopen data.



Remedy:

1. If the alarm is cleared after power cycling of the servo drive, it means the error occurred at the moment when the servo drive reads the data.

2. If the issue persists after power cycling of the servo drive, it means the data in the EEPROM is damaged and you need to write the correct values again. See the following methods:

(a) To write the default value, set P2.008 to 30 and then 28, or use the CANopen object OD 1011h to complete the setting.

(b) To write the current value, set the CANopen object OD 1010h.

3. If you took the corrective actions but the issue persists, it means the data array is incorrect. Set P2.008 to 10 to reset the parameters.


How to clear: OD 6040h [Bit 7] (Fault reset), DI.ARST, or OD 1011h.
AL207

Parameter group of Type [8] PR is out of range
Cause:

Condition: when Type [8] PR command specifies parameter as the data source, the parameter group is out of range.

Cause: parameter group exceeds the range.



Remedy:

Write parameter using PR procedure: when the data source is parameter and the group setting exceeds the range, check the setting range of the group for the written parameters.


How to clear: DI.ARST
AL209

Parameter number of Type [8] PR is out of range
Cause:

Condition: when Type [8] PR command specifies parameter as the data source, the parameter number is out of range.

Cause: parameter number exceeds the range.



Remedy:

Write parameter using PR procedure: when the data source is parameter and the parameter number setting exceeds the range, check the setting range of the number for the written parameters.


How to clear: DI.ARST
AL211

Parameter format setting of Type [8] PR is in error
Cause:

Condition: parameter format setting of Type [8] PR command is in error.

1. Incorrect parameter format.

2. The ASDA-Soft software version and the firmware version are not compatible.



Remedy:

1. Check if the parameter format is correct.

2. Check if you are using the latest version of ASDA-Soft.

If you took the corrective actions but the issue persists, contact the local distributor or technician.


How to clear: DI.ARST
AL213

Parameter setting of Type [8] PR is in error
Cause:

Condition: when you use Type [8] PR command to write the parameter, the parameter value is incorrect.

Cause: an error occurs when you write the parameter with Type [8] PR command.



Remedy:

Make sure the parameter value is within the correct range.


How to clear: DI.ARST
AL215

Parameter written by Type [8] PR is read-only
Cause:

Condition: the read-only parameter is written by Type [8] PR command.

Cause: an error occurs when you write the parameter with Type [8] PR command.



Remedy:

The specified parameter is read-only.


How to clear: DI.ARST
AL217

Parameter written by Type [8] PR is write-protected when Servo On
Cause:

Condition: when you use Type [8] PR command to write the parameter, the parameter is write-protected when the servo drive is On or the parameter value exceeds the range.

Cause: an error occurs when you write the parameter with Type [8] PR command.



Remedy:

Write the parameters when the servo drive is Off and make sure the parameter value is within the range.


How to clear: Modify the PR command and the parameter.
AL219

Parameter written by Type [8] PR is write-protected
Cause:

Condition: the parameter written by Type [8] PR command is write-protected.

Cause: the parameter write-protected function is enabled.



Remedy:

Check if the parameter and data array protection function (P5.097) is enabled.


How to clear: Disable the parameter and data array protection function or reset the parameters.
AL231

Monitoring variable code specified by Type [8] PR is out of range
Cause:

Condition: when Type [8] PR command specifies monitoring variable as the data source, the monitoring variable code is out of range.

Cause: the monitoring variable code is out of range.



Remedy:

Write parameter using PR procedure: when the data source is monitoring variable and the code exceeds the range, check the setting range of the code for the monitoring variable.


How to clear: DI.ARST
AL235

Position counter overflow warning
Cause: The position command counter overflows.



Remedy:
Incremental system: Check if feedback position has overflowed using scope, then execute homing procedure.

Absolute system: Establish absolute origin position. Check if FB_PUU overflows or if origin was not established after changing P1.001.Z or E-Gear ratio.



To Clear: DI.ARST or Establish absolute origin.
AL237

Rotary axis position is undefined
Cause: The starting point of the rotary axis position is not defined before operating position control.



Remedy:
Perform the homing procedure before using the rotary axis position control.



To Clear: DI.ARST
AL245

PR positioning timeout
Cause: The time for executing positioning is too long.



Remedy:
Check if the conditions for completing the PR commands are not set or not triggered.



To Clear: DI.ARST or cycle power.
AL249

PR path number is out of range
Cause: The number of the triggered PR path exceeds 99.



Remedy:

  • Check if the PR command jumps to a path exceeding the range.

  • Check if the PR command format is correct.




To Clear: DI.ARST or cycle power.
AL283

Software positive limit
Cause: The software positive limit is triggered (feedback position exceeds limit).



Remedy:
Set an appropriate deceleration time to achieve the desired effect (refer to P5.003).



To Clear: Automatically cleared after motor moves away from limit.
AL285

Software negative limit
Cause: The software negative limit is triggered (feedback position exceeds limit).



Remedy:
Set an appropriate deceleration time to achieve the desired effect (refer to P5.003).



To Clear: Automatically cleared after motor moves away from limit.
AL289

Position counter overflows
Cause: Position counter overflows.



Remedy:

  • Set gear ratio according to application to avoid overflow.

  • If P2.069.Z is 1, set P2.070 [Bit 2] to 1.




To Clear: DI.ARST
AL305

SYNC period error
Cause: SYNC period is in error (OD 1006h Data Error).



Remedy:
Check the value of OD 1006h. If smaller than or equal to 0, alarm occurs.



To Clear: NMT: reset node or OD 6040h [Bit 7] (Fault reset).
AL35F

Emergency stop during deceleration
Cause: This alarm occurs when DI.PFQS (0x47) is rising-edge triggered.



Remedy:
Check if any parameters P2.010 – P2.017 and P2.036 – P2.040 are set to 0x47 and triggered.



To Clear: Cycle power on the servo drive.
AL380

Position offset alarm for DO.MC_OK
Cause: DO.MC_OK is on and then goes off.



Remedy:
There might be an external force causing position offset after positioning is complete. Disable alarm by setting P1.048.Y to 0.



To Clear: DI.ARST
AL3CF

Emergency stop
Cause: After AL35F is triggered and the motor has decelerated to 0, this alarm occurs.



Remedy:
Check if any parameters P2.010 – P2.017 and P2.036 – P2.040 are set to 0x47 and triggered.



To Clear: DI.ARST
AL3E2

Communication synchronization signal is sent too soon
Cause: The communication synchronization signal is sent too soon.



Remedy:

  • Make sure communication cycle period (OD 1006h) matches controller.

  • Ensure correct time sequence of sending packets from controller.




To Clear: NMT: reset node or OD 6040h [Bit 7] (Fault reset).
AL3F1

Absolute position command of the communication type servo drive is in error
Cause: Absolute origin not established or overflow occurs while rotating in same direction.



Remedy:
Establish the absolute origin position.



To Clear: Establish the absolute origin position.
AL400

Rotary axis position setting error
Cause: The value of P2.052 is set too small (position offset in 1ms exceeds setting).



Remedy:
Check if P2.052 is set according to the specifications in the manual.



To Clear: DI.ARST
AL401

NMT reset command is received when servo is on
Cause: NMT reset command is received when the servo is on.



Remedy:
Check if the NMT reset command is received when the servo is on.



To Clear: NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
AL404

PR special filter setting value is too great
Cause: The value of PR command special filter (P1.022) is set too great.



Remedy:
Properly adjust the value of P1.022.



To Clear: DI.ARST
AL422

Write-in failed caused by power supply cut-off
Cause: Power cut off preventing position storage, continuous overload, firmware update variable mismatch, hardware EEPROM abnormal, short-circuit, or AL520.



Remedy:

  • Set P0.002 to 12 to monitor load rate. Increase motor capacity if >100%.

  • If issue persists, contact Delta/distributor.




To Clear: Cycle power on the servo drive.
AL510

Internal parameter update program of the servo drive is abnormal
Cause: Internal parameter update program of the servo drive is abnormal.



Remedy:
Cycle power on the servo drive and re-execute the operation which is prior to the occurrence of this alarm.



To Clear: Cycle power on the servo drive.
AL520

Calculation program timeout
Cause: Servo drive calculation program timeout.



Remedy:

  • Cycle power on the servo drive.

  • If alarm persists, disable vibration elimination (Set Bit 8/9 of P2.094 to 0).




To Clear: N/A (Requires fix or cycle power)
AL521

Vibration elimination parameter error
Cause: Input value for vibration elimination parameter is inappropriate or Bode plot error.



Remedy:

  • Perform system analysis again and correctly set value.

  • If issue persists, disable vibration elimination (Set Bit 8/9 of P2.094 to 0).




To Clear: Correct setting or disable function.
AL555

System failure
Cause: Servo drive DSP is in error.



Remedy:
If this alarm occurs, send your servo drive directly back to Delta without making any modification.



To Clear: N/A
AL809

PR motion setting error or command decoding error
Cause: Incorrect motion command or abnormal software compiling (error in PR program).



Remedy:

  • Save parameter file and provide to distributor.

  • Advanced users: Save scope screenshot (P5.007/P0.001) and oscillogram.




To Clear: Cycle power on the servo drive.
ALC31

Motor power cable disconnection
Cause: Disconnection of the motor power cable (U, V, W) and ground (GND).



Remedy:
Check if motor power cable (U, V, W) and ground are firmly connected.



To Clear: Cycle power on the servo drive.
ALCDB

Servo drive model type error
Cause: Servo drive model type error.



Remedy:

  • Update the firmware again.

  • If issue persists, send servo drive back to Delta.




To Clear: Cycle power on the servo drive.