Delta ASDA-A2 Servo Drive

Delta ASDA-A2 Servo Drive Fault Codes:

Fault Code and Meaning	Cause and Remedy
AL001 Over current	Cause: The drive output is short-circuited. The motor wiring is in error. IGBT is abnormal (Heat sink temperature abnormal). Remedy: Check wiring between motor and drive; eliminate short circuits and cover exposed metal. Check wiring steps; rewire following the user manual. Send the drive back to the distributor or contact Delta.
AL002 Over voltage	Cause: Wrong regenerative resistor selected or not connected. Main circuit input voltage is higher than rated allowable voltage. Wrong power input (incorrect power system). Hardware malfunction. Remedy: Check connections; Re-calculate resistor value and reset P1-52 and P1-53. Use voltmeter to check input voltage; apply correct power supply or serial voltage regulator. Ensure power system matches specification. If input voltage is correct but error persists, send drive back to distributor/Delta.
AL003 Under voltage	Cause: Main circuit input voltage is lower than rated allowable voltage. No power supply for the main circuit. Wrong power input (incorrect power system). Remedy: Re-confirm voltage wiring. Check the power switch and voltmeter readings. Apply to the correct power supply or serial adaptor.
AL004 Motor Combination Error	Cause: The encoder is damaged/abnormal. The encoder is loose. Motor Combination Error (Wrong motor connected). Remedy: Change the motor. Check encoder connector and install motor again. Connect to the right motor.
AL005 Regeneration Error	Cause: Wrong regenerative resistor selected or not connected. Parameter P1-53 is not set to zero when regenerative resistor is not in use. Wrong parameter setting (P1-52, P1-53). Remedy: Re-calculate resistor value, reset P1-52/P1-53. If alarm persists, return drive. Set parameter P1-53 to zero when resistor is not applied. Correctly reset the settings.
AL006 Overload	Cause: Load is over rated range; persistent overload. Control system parameter setting is inappropriate (Mechanical vibration or Accel/Decel too fast). Wrong wiring of motor and encoder. Encoder is defective. Remedy: Check P0-02 (set to 11) for average torque. Increase motor capacity or reduce load. Adjust gain value of control circuit. Slow down acceleration/deceleration setting time. Check wiring of U, V, W and encoder; correct wiring. Send drive back to distributor/Delta.
AL007 Overspeed	Cause: Dramatic change in speed (Analog voltage signal abnormal). Inappropriate parameter setting (P2-34 allowable difference too small). Torque limit issues. Remedy: Adjust signal changing rate or enable filter function. Correctly set P2-34 (allowable difference between command and feedback speed). Disable torque limit DI; Disable default setting; Set P1-12 ~ P1-14 to 100%.
AL008 Abnormal Pulse Command	Cause: The pulse command frequency is higher than the rated input frequency. Remedy: Use scope to check input frequency. Correctly set the input pulse frequency.
AL009 Excessive Deviation of Position Command	Cause: Maximum position deviation (P2-35) set too low. Gain value set too small. Torque limit is too low. Excessive external load. Improper E-gear ratio (P1-44/P1-45). Remedy: Increase setting value of P2-35. Correctly adjust the gain value. Correctly adjust the torque limit value. Reduce external load or evaluate motor capacity. Correctly setup the E-gear ratio.
AL011 Encoder Error	Cause: Wrong wiring of the encoder. The encoder is loose. Bad connection (CN2 connector loose). The encoder is damaged. Remedy: Check wiring against user manual; Correct wiring. Install the encoder again. Reconnect the wiring at CN2. Change the motor.
AL012 Adjustment Error	Cause: Analog input contact incorrectly set back to zero. Detection device is damaged. Remedy: Measure voltage; Correctly ground the analog input contact. Reset power supply. If error persists, return drive to Delta.
AL013 Emergency Stop	Cause: The emergency stop button is pressed. Remedy: Activate emergency stop (Release button/enable functionality).
AL014 Reverse Limit Error	Cause: Reverse limit switch is activated. Servo system is unstable. Remedy: Enable the reverse limit switch. Check control parameter and inertia ratio; Re-adjust or evaluate motor capacity.
AL015 Forward Limit Error	Cause: Forward limit switch is activated. Servo system is unstable. Remedy: Enable the forward limit switch. Check control parameter and inertia ratio; Re-adjust or estimate motor capacity.
AL016 IGBT Overheat	Cause: Load over rated range; persistent overload. Drive output short-circuited. Remedy: Check for overloading/high current; Increase motor capacity or reduce load. Check drive output wiring; Correct the wiring.
AL017 Abnormal EEPROM	Cause: Error when DSP accesses EEPROM. Abnormal hidden parameter. Data in ROM is damaged. Remedy: Check: Press SHIFT Key on panel to see code EXGAB (X=1,2,3). E.g., E320A = P2-10, E3610 = P6-16. If fault occurs on power-up: Parameter over reasonable range. Re-power after adjusting. If fault occurs during operation: Error writing parameter. Clear via DI.ARST. If code E100X: Drive setting wrong. Set correct drive type. If code E0001: ROM data damaged. Return drive to Delta.
AL018 Abnormal Signal Output	Cause: Encoder error causing abnormal signal (Check fault records P4-00~P4-05). Output pulse exceeds hardware allowable range. Remedy: If AL011, AL024, AL025, AL026 occur, follow their respective remedies. Correctly set P1-76 and P1-46 to satisfy the motor speed formula.
AL019 Serial Communication Error	Cause: Improper setting of communication parameter. Incorrect communication address. Incorrect communication value. Remedy: Correctly set the parameter values. Correctly set the communication address. Correctly set the accessing value.
AL020 Serial Communication Time Out	Cause: Improper setting of time-out parameter. Drive hasn’t received command for a long time (Cable loose/broken). Remedy: Correctly set the time-out value. Check and correct the communication wiring.
AL022 Main circuit power leak phase	Cause: The main circuit power is abnormal. Remedy: Check if RST power cable is loose or there is no power. Note: This alarm occurs when the 1.5 kW (or below) A2 servo drive is not connected to the three-phase power supply. Note: For 2 kW (or above) A2 servo drives, the alarm occurs when one single phase is not connected to the power supply. Make sure it applies to the power. If the issue persists, please send the drive back to the distributors or contact Delta.
AL023 Early warning for overload	Cause: Early warning for overload. Remedy: Check if it is used in an overload condition. Check if the value of parameter P1-56 is set too small. Please refer to the corrective actions of AL006. Please increase the setting value of parameter P1-56. Alternatively, set the value over 100 and deactivate the overload warning function.
AL024 Encoder initial magnetic field error	Cause: The initial magnetic field of the encoder is in error (Signal U, V, W of the encoder magnetic field is in error). Remedy: Check if the servo motor is properly grounded. Check if the encoder cable separates from the power supply or the high-current circuit to avoid interference. Check if the shielding cables are used for the encoder. If the issue persists, please send the drive back to the distributors or contact Delta.
AL025 The internal of the encoder is in error	Cause: The internal of the encoder is in error (Internal memory and counter are in error). Or: When powered on, the motor operates because of mechanical inertia or other causes. Remedy: Check if the servo is properly grounded. Check if the encoder cable separates from the power supply or high-current circuit. Please connect the UVW connector (color green) to the heat sink of the servo drive. Please use shielding mesh. When powered on, make sure the motor shaft stands still and will not operate. If issue persists, please send the drive back to the distributors or contact Delta.
AL026 Unreliable internal data of the encoder	Cause: The encoder is in error (Errors occur in the internal data for three consecutive times). Remedy: Check if the servo is properly grounded. Check if the encoder cable separates from the power supply or high-current circuit to avoid interference. Check if shielding cables are used in the wiring of the encoder. Connect the UVW connector (color green) to the heat sink of the servo drive. If the issue persists, please send the drive back to the distributors or contact Delta.
AL027 The internal of the motor is in error	Cause: The internal reset of the encoder is in error. Remedy: Check if the encoder cable is firmly connected. Check if the power supply for the encoder is stable. Check if the operation temperature is over 95°C (203°F). Check if the encoder signal cable works normally (use shielded cable). If the situation is not improving, please send the drive back to the distributors or contact Delta.
AL028 Encoder voltage error or the internal of the encoder is in error	Cause 1: Battery voltage is too high. Cause 2: The internal encoder is in error. Remedy: Check if the charging circuit exists in the servo drive. Check if the battery is correctly installed (voltage > 3.8V). Follow the procedure for Over voltage to check. (When corrective actions are done, AL028 clears automatically). Check if it is the absolute type encoder. Check if the servo is properly grounded. Check if the encoder cable separates from power supply/high-current circuit. Connect UVW connector (green) to heat sink. Use shielding mesh. If situation is not improving, send drive back to distributors or Delta.
AL029 Gray code error	Cause: Absolute position is in error. Remedy: Re-power on to operate the motor and check if the alarm will occur again. If the alarm occurs again, please change the encoder.
AL030 Motor Crash Error	Cause: Motor Crash Error. Remedy: Check if P1-57 is enabled. Check if P1-57 is set too small and the time of P1-58 is set too short. If enabled by mistake, set P1-57 to zero. According to actual torque setting, if value is too small, alarm triggers by mistake. If too big, protection is lost.
AL031 Incorrect wiring of the motor power line U, V, W	Cause: The wiring of U, V, W of the motor is incorrectly connected or the connection is breakdown. (Detection enabled/disabled via P2-65 Bit 9). Remedy: Check if U, V, W of the motor is incorrectly connected or if connection is broken. Follow the user manual to correctly wire U, V, and W and make sure it is grounded.
AL034 Internal communication of the encoder is in error	Cause: Internal communication of the encoder is in error. Remedy: Check for internal communication error of absolute encoder. Check for internal error of other type of encoder. Check for incorrect wiring of the battery cable. Check the wiring and voltage. Conduct the wiring of the battery again and then cycle power on the system.
AL035 Encoder temperature exceeds the protective range	Cause: Encoder temperature exceeds the protective range, above 100°C (212°F). Remedy: Check the setting: set the value of P0-02 to 120 to display the temperature. Improve heat dissipation or reduce the loading of operation. Temperature should be lower than 100°C. If encoder’s temperature is higher than the motor’s (more than 30°C diff), please send the motor back to distributors.
AL040 Excessive deviation of full closed-loop position control	Cause: Excessive deviation of full closed-loop position control. Remedy: Check if P1-73 is set too small. Check if the connector is loose or there is any connection problem of other mechanism. 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. Remedy: Check the communication of linear scale. Check the communication of linear scale again.
AL042 Analog input voltage error	Cause: The analog input voltage is higher than the value of P1-83. Remedy: Check if analog input voltage is too high. Check all analog input voltages. Check if there is any problem about the sources of analog speed commands.
AL044 Warning of servo drive function overload	Cause: Warning of servo drive function overload. Remedy: Setting P2-66 Bit4 to 1 can disable the display of this alarm.
AL045 Wrong setting of E-gear ratio	Cause: Setting of E-gear ratio is wrong when power on the servo drive. Remedy: Check if the setting of E-gear ratio is within the range (1/50~25600). Modify the range of E-gear ratio and cycle power on the servo drive.
AL060 The absolute position is lost	Cause: 1. Battery under voltage (lower than 2.8V). 2. Battery replaced when main power was off. 3. Absolute origin not created after activating function. 4. Poor connection of battery power circuit. Remedy: If low voltage: After changing battery, conduct homing procedure again (See Chapter 12). If replaced while off: Do not change/remove battery when power is OFF. Conduct homing procedure again. If origin missing: Install battery, check wiring between battery/drive/encoder. Conduct homing procedure. If poor connection: Connect or repair battery wiring. Conduct homing procedure again.
AL061 Encoder under voltage	Cause: Battery under voltage. Remedy: Check if voltage of battery on panel is lower than 3.1V. Measure if voltage of battery is lower than 3.1V. Do not change the battery when the power is ON (controlled by servo drive). After you change the battery, AL061 will be cleared automatically.
AL062 The multi-turn of absolute encoder overflows	Cause: Motor’s rotation cycle exceeds the allowable range. Remedy: Check if the motor’s number of turns while operating is within range (-32768 to +32767). Conduct homing procedure again. Please refer to description of creating absolute origin coordinate in Chapter 12.
AL067 Encoder temperature warning	Cause: Encoder temperature exceeds the warning level. (But it is still within the protective range 85°C to 100°C / 185°F to 212°F). Remedy: Check setting: Set the value of P0-02 to 120 to display the temperature. Improve heat dissipation or reduce the loading of operation. The temperature should be lower than 100°C (212°F). If the encoder’s temperature is higher than the motor’s (more than 30°C (86°F)), please send the motor back to the distributors.
AL068 Absolute data transmitted via I/O is in error	Cause: Sequence error or Reading time out. Remedy: For Sequence error: Switch OFF DI ABSQ until DO ABSR is OFF, then Switch ON ABSQ until DO ABSR is ON. Correct the reading sequence of I/O. For Reading time out: Check if the time between switching ON DO ABSR and switching ON ABSQ exceeds 200 ms. After switching ON DO ABSR (the absolute position data is ready), read DO ABSD and switch ON DI ABSQ within 200 ms so as to inform the servo drive data reading is completed.
AL069 Wrong motor type	Cause: Incremental motor is not allowed to activate the absolute function. Remedy: Check if the motor is incremental or absolute encoder. Check parameter P2-69. If the user desires to use the absolute function, please choose an absolute motor. If not, please set parameter P2-69 to 0.
AL06A The absolute coordinate has not been initialized	Cause: Voltage of the battery is normal, but the encoder loses number of revolutions. (1. Motor used for first time, 2. Battery replaced, 3. Poor connection). Remedy: Check if the absolute origin coordinate has been created. Check the encoder wiring and connection between battery box and servo drive. Create the absolute origin coordinate. Ensure the battery wiring and execute homing again.
AL070 Encoder does not complete the command issued by servo drive	Cause: The servo drive has not completely written barcode into the encoder or the encoder does not complete the command issued by the servo drive. Remedy: Check if the encoder wiring is correct or there is any loose connection. Correctly connect the encoder wiring again.
AL072 Encoder overspeed	Cause: Powered by servo: speed > 8,800 rpm or accel > 1×10^5 rad/s². Powered by battery: speed > 10,000 rpm or accel > 4×10^3 rad/s². Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. Make sure the motor speed is within the rated range. Create the absolute origin coordinate again. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL073 Encoder memory error	Cause: An error occurs when the encoder is reading data from or writing data to EEPROM. Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. Make sure the motor speed is within the rated range. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL074 Absolute encoder single turn position error	Cause: Absolute encoder single turn position error. Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. Make sure the motor speed is within the rated range. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL075 Absolute encoder position error	Cause: Absolute encoder position error. Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. Make sure the motor speed is within the rated range. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL077 Encoder computing error	Cause: Encoder internal error (internal computing error). Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. Make sure the motor speed is within the rated range. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL079 Encoder parameter error	Cause: The encoder is not cycled after the parameter is written, so the parameter value is not updated. Remedy: Check if the parameter is written to the encoder. Cycle power on the servo drive.
AL07A Loss of encoder Z pulse	Cause: Loss of encoder Z pulse position. Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL07B Encoder memory busy	Cause: Encoder memory is busy. Remedy: Make sure the UVW connector is grounded to the heat sink of the servo drive. Make sure the encoder signal cable is separated from the power supply or any high-current cable. Use shielded cable for the encoder. Make sure the motor speed is within the rated range. If the issue persists, please send your servo drive back to the distributor or contact Delta.
AL07C Command to clear absolute position issued > 200 rpm	Cause: The command to clear the absolute position is issued when the motor speed is over 200 rpm. Remedy: Do not issue a command to clear the absolute position when the motor speed is over 200 rpm. Follow the procedure for clearing the absolute position to clear this alarm.
AL07D 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, then the motor stops operating. Remedy: Check if the encoder parameter is written. Use DI.ARST to clear the alarm. Once this alarm is cleared, AL07C occurs.
AL07E Encoder clearing procedure error	Cause: The attempts to clear the encoder exceed the limit. Remedy: If the issue persists, check the communication quality with the encoder. Use DI.ARST to clear the alarm.
AL083 Servo drive outputs excessive current	Cause: 1. UVW cable is short-circuited. 2. Wrong motor wiring. 3. Analog signal (GND) from servo drive is interfered. Remedy: Check configuration of motor power cable/connector. Look for exposed wire or worn AWG causing short circuit. Replace UVW cable. If applying non-standard cable, check wiring sequence. Check for lack of phase (unconnected/wrong). Conduct wiring again (refer to Chapter 3). Check if GND of analog signal is misconnected to another ground. GND of analog signal cannot be grounded with other signals.
AL085 Regeneration error	Cause: Choose wrong regenerative resistor or does not connect to external regenerative resistor. Parameter P1-53 is not set to zero when the regenerative resistor is not in use. Wrong parameter setting. Remedy: Check the connection of regenerative resistor. Calculate the value of the regenerative resistor again and correctly set the values of P1-52 and P1-53. If not applying regenerative resistor, set P1-53 to zero. If the issue persists, please send the drive back to the distributors or contact Delta.
AL086 Input voltage is too high	Cause: Regenerative energy interference or input voltage is higher than permissible rated voltage. Servo drive (hardware) malfunction. Remedy: Use a voltmeter to measure if the input voltage is within the permissible rated value. Use the correct voltage source or connect the voltage regulator in series. If voltage is normal but issue persists, send the drive back to distributors.
AL095 The servo drive does not connect to external regenerative resistor	Cause: The input of regenerative resistor capacity is over 0 and the servo drive does not connect to external regenerative resistor. Remedy: If wishing to apply regenerative brake: Connect to external regenerative resistor and check if P1-53 is correct. If not applying to regenerative brake: Set P1-53 to 0. If the issue persists, send the drive back to distributors.
AL099 DSP firmware upgrade	Cause: Upgrade DSP firmware. Remedy: Check if the firmware is upgraded. Firstly set P2-08 to 30. Then set P2-08 to 28. The alarm will be cleared when cycling power on.
AL111 CANopen SDO receives overflow	Cause: SDO Rx Buffer overflow (receives more than two SDOs within 1 ms). Remedy: Check if the servo drive receives/sends more than one SDO within 1 ms. 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). Remedy: Check if the servo drive receives/sends more than one PDO of COBID within 1 ms. 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. Remedy: Check if the Entry Index of PDO Mapping is modified when PDO is receiving or sending. 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. Remedy: Check if the Entry Sub-index of PDO Mapping is modified when PDO is receiving or sending. 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. Remedy: Check if the data length of Entry of PDO Mapping is modified when PDO is receiving or sending. 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. Remedy: Check if the written range is wrong when PDO is receiving or sending. NMT: Reset node or 0x6040.Fault Reset.
AL125 CANopen PDO is read-only and write-protected	Cause: The specified object in the message is write-protected. Remedy: Check if the specified object is read-only when PDO is receiving or sending. NMT: Reset node or 0x6040.Fault Reset.
AL126 CANopen PDO is not allowed in PDO	Cause: The specified object in the message does not support PDO. Remedy: Check if the specified object allows PDO Mapping when PDO is receiving or sending. NMT: Reset node or 0x6040.Fault Reset.
AL127 CANopen PDO is write-protected when Servo On	Cause: The specified object in the message is write-protected when Servo ON. Remedy: Check that when PDO is receiving or sending, if the specified object is write-protected when Servo On. NMT: Reset node or 0x6040.Fault Reset.
AL128 Error occurs when reading CANopen PDO via EEPROM	Cause: An error occurs when loading the default value via ROM at start-up. Remedy: When PDO is receiving or sending, check if the error occurs because the specified object reads EEPROM. NMT: Reset node or 0x6040.Fault Reset.
AL129 Error occurs when writing CANopen PDO via EEPROM	Cause: An error occurs when saving the current value into ROM. Remedy: When PDO is receiving or sending, check if the error occurs because the specified object is written into EEPROM. NMT: Reset node or 0x6040.Fault Reset.
AL130 The accessing address of EEPROM is out of range	Cause: The quantity of the data in the ROM is over the allowable space (likely due to software update/version mismatch). Remedy: Check if the addressing in EEPROM exceeds the range for the specified object. NMT: Reset node or 0x6040.Fault Reset.
AL131 CRC of EEPROM calculation error	Cause: It means the data stored in ROM is damaged. Remedy: Check if the specified object would cause CRC calculation error in EEPROM. NMT: Reset node or 0x6040.Fault Reset.
AL132 Enter the incorrect password when using CANopen PDO	Cause: Parameters are password-protected and users must decode first. Remedy: Check if the specified object enters the wrong password when PDO is receiving or sending. NMT: Reset node or 0x6040.Fault Reset.
AL170 CANopen Heartbeat or NodeGuarding error	Cause: CANopen communication breaks. Remedy: Check if CANopen communication and connection is normal. NMT: Reset node or 0x6040.Fault Reset.
AL180 CANopen Heartbeat or NodeGuarding error	Cause: CANopen communication breaks. Remedy: Check if CANopen communication and connection is normal. NMT: Reset node or 0x6040.Fault Reset.
AL185 Abnormal CAN Bus hardware	Cause: Abnormal CAN Bus hardware. Remedy: Check if the communication cable of CAN Bus is connected. Check the communication quality (grounding and shielded cable suggested). NMT: Reset node or re-servo on.
AL186 Bus off	Cause: CAN Bus transfer error (interference or connection). Number of slave stations is excessive or communication cycle is too short. Remedy: Check connection or eliminate noise; Change communication cable. Lengthen the communication cycle.
AL201 An error occurs when loading CANopen data	Cause: Data error occurred during access or data in EEPROM is damaged. Remedy: Cycle power on the servo drive. If error persists, enter correct values again. To restore default: Set P2-08 to 30, 28 or CANopen object 0x1011. DI.ARST, CANopen 0x1011 Restore default parameter.
AL207 Parameter group of PR#8 is out of the range	Cause: The parameter group of command source exceeds the range. Remedy: DI.Alm Reset or write 0 into P0-01.
AL209 Parameter number of PR#8 is out of the range	Cause: The parameter number of command source exceeds the range. Remedy: DI.Alm Reset or write 0 into P0-01.
AL213 ~ AL217 An error occurs when writing parameter via PR	Cause: AL213: Parameter exceeds the range. AL215: The parameter is read-only. AL217: Servo On or invalid value. Remedy: DI.Alm Reset or P0-01 = 0. Re-adjust PR command and parameters.
AL231 The setting of monitor item of PR#8 is out of the range	Cause: The monitor item of the command source exceeds the range. Remedy: Check: Writing parameter via PR procedure: The monitor item number of command source exceeds the range. DI.Alm Reset or write 0 into P0-01.
AL235 PR command overflows	Cause: PR command error (Feedback register FB_PUU overflows). Remedy: Check the following conditions and conduct homing procedure: Incremental type: PR mode continuously operates in one direction causing overflow. Absolute type: Feedback register overflows. P1-01.Z modified without returning to original point. Homing not conducted after E-gear ratio modified (P1-44/P1-45). When AL060 and AL062 occur, check if feedback position overflowed. Action: Conduct homing procedure.
AL237 Indexing coordinate is undefined	Cause: Executing index positioning command before defining the start point of index coordinate. Remedy: Check if indexing coordinate is undefined. Before executing indexing function, conduct homing first. Use DI:Alm Reset or write 0 into P0-01 to clear the alarm. The alarm can be cleared when it is Servo ON.
AL245 PR Positioning Timeout	Cause: PR positioning command is triggered and the execution time for positioning is too long. Remedy: Check the causes of not completing the PR command (e.g., waiting conditions are not set or triggered). When the alarm occurs, use DI:Alm Reset or write 0 into P0-01 to clear the alarm.
AL249 The number of PR command exceeds the limit	Cause: The triggered PR path exceeds 63. Remedy: Check if the PR command jumps to a path that exceeds the range. Check if the PR command format is correct. When the alarm occurs, use DI:Alm Reset or write 0 into P0-01 to clear the alarm.
AL283 Forward Software Limit	Cause: Forward software limit reached. (Determined by position command arriving before feedback). Remedy: Check Forward Software Limit setting. Set an appropriate decelerating time (refer to P5-03). NMT: Reset node or 0x6040.Fault Reset.
AL285 Reverse Software Limit	Cause: Reverse software limit reached. (Determined by position command arriving before feedback). Remedy: Check Reverse Software Limit setting. Set an appropriate decelerating time (refer to P5-03). NMT: Reset node or 0x6040.Fault Reset.
AL289 Feedback position counter overflows	Cause: Feedback position counter overflows. Remedy: Set the gear ratio properly according to total traveling distance and application requirements. If P2-69.Z is set to 1 (disable index coordinate overflow), set P2-70 [Bit 2] to 1. NMT: Reset node or 0x6040.Fault Reset.
AL291 Servo Off error	Cause: Servo Off error. Remedy: Check if the wiring of DI.SERVO ON is correct. Check if the controller switched the servo to on 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 (default value recommended). 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 (default value recommended). Ensure the correct time sequence of sending packets from the controller. 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 (default value recommended). Ensure the correct time sequence of sending packets from the controller. NMT: Reset node or 0x6040.Fault Reset.
AL304 CANopen IP command fails	Cause: CANopen IP command fails. Remedy: The computing time in IP mode takes too long. Please disable the 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.
AL35F Emergency Stop (during deceleration)	Cause: The DI (0x47) is rising-edge triggered and the motor decelerates to 0 before AL3CF occurs. Remedy: Check if the DI (0x47) is accidentally triggered because of the parameter setting. Cycle power on the servo drive.
AL380 Position deviation alarm	Cause: DO.MC_OK is ON and becomes OFF. Remedy: Refer to description of parameter P1-48. Check if DO.MC_OK becomes OFF because DO.TPOS turns OFF. The position of the motor might be deviated by external force after positioning. DI.Alm Reset or P0-01 = 0 (Clear by P1-48.Y=0).
AL3CF Emergency Stop	Cause: After AL35F occurs, the motor decelerates to 0. Remedy: Check if the DI (0x47) is accidentally triggered because of the parameter setting. Cycle power on the servo drive.
AL3F1 Absolute index coordinate undefined	Cause: Absolute positioning command sent without executing homing procedure on system with incremental motors + position overflow. Remedy: Create an absolute coordinate system. Set the origin again.
AL400 Index coordinates error	Cause: Setting of P2-52 is wrong. Remedy: Check if the setting of P2-52 is within the range (if too small, causes error). Re-adjust the value of P5-52 until it is appropriate.
AL401 Receives NMT reset command when Servo On	Cause: Receives NMT reset command when Servo On. Remedy: Check if the servo drive receives NMT reset command when Servo On. NMT: Reset node or 0x6040.Fault Reset.
AL404 Value of PR special filter setting is too big	Cause: Inner position error overflows. Remedy: Check the setting of P1-22. If value is too high, following error exceeds allowable range. Re-adjust the value of P1-22 until it is appropriate.
AL500 STO function is enabled	Cause: Safe torque off function (STO) is enabled. Remedy: Please check why STO is enabled. Use DI.ARST or 0x6040.Fault Reset, or set P0-01 to 0.
AL501 STO_A loss (signal loss or signal error)	Cause: Loss of STO_A signal or STO_A and STO_B signals are not synchronized for more than 1 sec. Remedy: Check if the wiring of STO_A is correct. Use DI.ARST or 0x6040.Fault Reset, or set P0-01 to 0.
AL502 STO_B lost (signal loss or signal error)	Cause: Loss of STO_B signal or STO_A and STO_B signals are not synchronized for more than 1 sec. Remedy: Make sure the wiring of STO_B is correct. Use DI.ARST or 0x6040.Fault Reset, or set P0-01 to 0.
AL503 STO_error	Cause: An error occurs during STO self-diagnosis. Remedy: It might be that the STO circuit is causing the error. Please contact the distributor.
AL555 System failure	Cause: DSP processing error. Remedy: If AL555 occurs, do not do anything and send the drive back to Delta.