Delta ASDA-A2R Servo Drive

Delta ASDA-A2R Servo Drive Fault Codes:

Fault Code and Meaning	Cause and Remedy
AL001 Over current	Cause: Drive output short-circuit; Motor wiring error; IGBT abnormal; Control parameter error; Unreasonable command. Remedy: Check if wiring between motor and drive is correct and not shorted; Eliminate short-circuit and cover exposed metal. Check if wiring steps are correct; Rewire following the user manual. Check if heat sink temperature is abnormal; Send drive back to distributor. Check if setting values exceed default; Reset to default and gradually adjust. Check if acceleration time is reasonable; Use less steep command or apply filter.
AL002 Over voltage	Cause: Input voltage higher than rated allowable voltage; Wrong power input system; Hardware damaged. Remedy: Use voltmeter to check main circuit input voltage; Apply to correct power supply or serial voltage regulator. Check if power system matches specification; Apply to correct power supply. If voltage is correct but error persists, the hardware is damaged; Send drive back to distributor.
AL003 Under voltage	Cause: Input voltage lower than rated allowable voltage; No power supply. Remedy: Check if input voltage wiring is normal; Re-confirm voltage wiring. Use voltmeter to check main circuit voltage; Check the power switch.
AL004 Motor Combination Error	Cause: Encoder damaged; Encoder loose; Wrong motor connected. Remedy: Check if encoder is abnormal; Change the motor. Check encoder connector; Install the motor again. Check connection; Connect to the right motor.
AL005 Regeneration Error	Cause: Regenerative resistor unconnected or too low; Parameter P1-53 not set to zero when unused; Wrong parameter setting. Remedy: Check connection; Reconnect or calculate value of regenerative resistor. Check P1-53; Set P1-53 to zero when resistor is not applied. Check P1-52 and P1-53; Correctly reset the settings.
AL006 Overload	Cause: Continuous excessive loading (>100%); Inappropriate control system parameters; Wrong wiring; Defective encoder. Remedy: Check P0-02 average torque; Increase motor capacity or reduce load. Check for mechanical vibration or fast accel/decel; Adjust gain or slow down accel/decel time. Check wiring of U, V, W and encoder; Correct wiring. If encoder is defective, send drive back to distributor.
AL007 Overspeed	Cause: Unreasonable command; Inappropriate parameter setting (P2-34). Remedy: Check analog voltage signal; Use less steep command or apply filter. Check if P2-34 is too small; Correctly set P2-34 (over-speed warning condition).
AL008 Abnormal Pulse Command	Cause: Pulse command frequency is higher than rated input frequency. Remedy: Use scope to check input frequency; Correctly set the input pulse frequency.
AL009 Excessive Deviation of Position Command	Cause: P2-35 too small; Gain too small; Torque limit too low; Excessive external load; Improper E-gear ratio. Remedy: Check P2-35; Increase setting value of P2-35. Check if gain is appropriate; Correctly adjust gain value. Check torque limit; Correctly adjust torque limit value. Check external load; Reduce load or evaluate motor capacity. Check P1-44 and P1-45 proportion; Correctly setup E-gear ratio.
AL011 Encoder Error	Cause: Wrong wiring; Encoder loose; Bad connection; Encoder damaged. Remedy: Check if wiring follows user manual; Correct wiring. Check CN2 connector; Install encoder again. Check connection between drive CN2 and motor; Reconnect wiring. Check if motor is damaged; Change the motor.
AL012 Adjustment Error	Cause: Analog input contact incorrectly set back to zero; Detection device damaged. Remedy: Measure if voltage of analog input is same as ground; Correctly ground the analog input contact. Reset power supply; If error persists, send drive back to distributor.
AL013 Emergency Stop	Cause: Emergency stop button pressed. Remedy: Check if button is enabled; Activate (release) emergency stop.
AL014 Reverse Limit Error	Cause: Reverse limit switch activated; Servo system unstable. Remedy: Check limit switch; Enable the reverse limit switch. Check control parameter and inertia ratio; Re-adjust parameter or evaluate motor capacity.
AL015 Forward Limit Error	Cause: Forward limit switch activated; Servo system unstable. Remedy: Check limit switch; Enable the forward limit switch. Check control parameter and inertia ratio; Re-adjust parameter or evaluate motor capacity.
AL016 IGBT Overheat	Cause: Overloading / motor current too high; Drive output short-circuit. Remedy: Check if overloading; Increase motor capacity or reduce load. Check drive output wiring; Correct wiring.
AL017 Abnormal EEPROM	Cause: Error accessing EEPROM (EXGAB); Abnormal hidden parameter (E100X); Data in ROM damaged (E0001). Remedy: If E320A/E3610: Parameter out of range. Re-power after adjusting. If write error during operation, clear by DI.ARST. If E100X: Parameter reset error/Wrong drive setting. Set correct type of drive. If E0001: ROM data damaged/empty. Send drive back to distributor.
AL018 Abnormal Signal Output	Cause: Encoder error causing abnormal signal; Output pulse exceeds hardware range. Remedy: Check fault records (AL011, AL024, AL025, AL026); Conduct corrective actions for those specific alarms. Check conditions; Correctly set parameters P1-76 and P1-46 regarding motor speed.
AL019 Serial Communication Error	Cause: Improper communication parameter; Incorrect address; Incorrect value. Remedy: Check setting value; Correctly set the parameter value. Check communication address; Correctly set the address. Check accessing value; Correctly set the value.
AL020 Serial Communication Time Out	Cause: Improper time-out parameter; Command not received for long time. Remedy: Check parameter setting; Correctly set the value. Check if communication cable is loose or broken; Correct wiring.
AL022 Main circuit power leak phase	Cause: The main circuit power is abnormal. Remedy: Check if RST power cable is loose or does not connect to the power. Note: This alarm occurs when no power connects to 3-phase for under 1.5 kW (included) servo drive, or no power connects to single phase for 2 kW (included or above) servo drive. Make sure it applies to the power. If issue persists, please send the drive back to the distributors or contact with Delta.
AL023 Early warning for overload	Cause: Early warning for overload. Remedy: Check if it is used in 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. Or 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 is properly grounded. Check if the encoder cable separates from the power supply or the high-current circuit to avoid interference. Check if shielding cables are used in the wiring of the encoder. If it connects to Hall sensor, please check the wiring of Hall sensor. If issue persists, please send the drive back to the distributors or contact with Delta.
AL025 The internal of the encoder is in error	Cause: The internal of the encoder is in error (The internal memory and the internal counter are in error). Remedy: Check if the servo is properly grounded. Check if the encoder cable separates from the power supply or the high-current circuit to avoid interference. Check if shielding cables are used in the wiring of the encoder. Please connect the UVW connector (color green) to the heat sink of the servo drive. Please use shielding mesh. If issue persists, please send the drive back to the distributors or contact with Delta.
AL026 Unreliable internal data of the encoder	Cause: The encoder is in error (Errors occur in the internal data for three times continuously). Remedy: Check if the servo is properly grounded. Check if the encoder cable separates from the power supply or the high-current circuit. Check if shielding cables are used. Please connect the UVW connector (color green) to the heat sink of the servo drive. Please use shielding mesh. If issue persists, please send the drive back to the distributors or contact with Delta.
AL027 Encoder reset error	Cause: Reset the encoder. Remedy: Check if the contact of the signal cable is poor. Check if the encoder power is stable. Check if the operating temperature is higher than 95 ℃. Make sure the signal cable is normal. Please use shielded net for encoder signal cable. If issue persists, please send the drive back to the distributors or contact with Delta.
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 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, GND of the motor is incorrect connected. Remedy: Check if U, V, W of the motor is incorrect connected. Follow the user manual to correctly wire U, V, W and make sure it is grounded.
AL033 Connection of 26 pin on converter box is breakdown	Cause: Connection of 26 pin on converter box is breakdown. Remedy: Check the status of converter box. Switch mode (Rotary switch at X1: AB pulse): Check if the connection of pin 1~6 on 26 pin is breakdown. Switch mode (Rotary switch at X2: SIN COS): Check if the connection of pin 8~13 on 26 pin is breakdown. Drive mode (PM-03 bit 0 = 0): Check pin 1~6. Drive mode (PM-03 bit 0 = 1): Check pin 8~13. Re-connect the breakdown part and then re-servo on.
AL035 Motor Temperature Error	Cause: Motor temperature error. Remedy: Check if the temperature of surrounding environment is over high. Reduce the temperature of surrounding environment.
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 CN5 is breakdown	Cause: Communication of CN5 is breakdown. Remedy: Check if the connection of pin1~5 and pin 9 on CN5 connector is breakdown. Make sure the connection is correct and then re-servo on.
AL044 Warning of servo drive function overload	Cause: Warning of servo drive function overload. Remedy: Set Bit 4 of P2-66 to 1 could close the display of this alarm.
AL050 Auto detection of motor parameters is completed	Cause: When executing the function of PM-01 (Automatic Identification of Motor Parameter), the alarm occurs when the auto detection is completed. Remedy: It informs users the detection is completed and should re-power on the servo drive. Please re-power on the servo drive.
AL051 Auto detection of motor parameters is in error	Cause: When executing the function of PM-01, if the friction is too big, motor is stuck or entering wrong resolution and pitch pole, this alarm will occur. Remedy: Check if motor pole pitch, encoder resolution and encoder type are entered correctly. Check if motor is stuck during detection. Check if the motor friction is too big. Check if the feedback of linear scale is abnormal, connection breakdown, or noise interference. Enter the correct value and activate detection again. Preserve moving distance for linear motor before detection. Change another motor with more power if friction is too high. Correct the problem of linear scale.
AL052 Initial magnetic pole detection error	Cause: When motor does not connect to Hall sensor, it will search the initial magnetic pole when power on. If not found, this alarm occurs. Remedy: Check if the feedback is normal. Check if the motor friction is too big. Correct the problem of the encoder.
AL053 Motor parameter is not confirmed	Cause: If PM-02 = 0, this alarm occurs when motor servo On. Remedy: Make sure the motor parameter group is entered correctly. Set PM-02 to 1 and re-power on. After detection procedure is completed, this parameter will be setup automatically.
AL054 Exceeding the range of motor parameters	Cause: When switching the motor type, if the setting value exceeds the range of PM-00, this alarm will occur. Remedy: Check if the parameter is incorrect (Press SHIFT Key to display EXGAB). E320A represents P2-10; E3610 represents P6-16; E3D10 represents PM-16. The parameter setting range of linear motor is different from rotary motor. Please setup the correct parameter according to the motor type.
AL055 Motor parameter is not confirmed (Magnetic Field Deviation)	Cause: When enabling the Y item of PM-09, servo will detect the motor’s current magnetic field and compare it with the position of Hall sensor. When deviation is excessive, this alarm occurs. Remedy: Check if encoder feedback interferes with pulse loss due to noise. Check if motor is over speed (limit 20Mhz). Check if Hall sensor is normal. Exclude noise problem (filter settings in PM-03 or P1-74). Limit the max speed of motor (Setup P1-55).
AL057 Feedback pulse is lost	Cause: When P2-81 = 1, it will check if pulse is lost. If the pulse loss amount exceeds the value of P2-82, this alarm will occur. Remedy: Check if encoder feedback interferes with pulse loss due to noise. If encoder is square wave digital signal, check if motor is over speed (limit 20Mhz). Exclude the noise problem (filter settings in PM-03 or P1-74). Limit the max. speed of motor (Setup P1-55).
AL058 Excessive deviation of initial magnetic pole detection position when power on	Cause: During initial magnetic pole detection, the position error exceeded the range. Check if the command is issued immediately when power is just turned on. Check if the moving is too excessive during initial pole detection. Remedy: Do not issue the command right after the power is on. Users can issue the command until TPOS is On. Reduce the value of PM-11. Reduce the detect current of initial pole.
AL067 Motor Temperature Warning	Cause: Motor’s temperature is too high. Check if the temperature of the surrounding environment is too high. Remedy: Reduce the temperature of the surrounding environment.
AL099 DSP firmware upgrade	Cause: DSP firmware upgrade required or in progress. 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. The servo drive received (or sent) more than two SDOs within 1ms. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL112 CANopen PDO receives overflow	Cause: PDO Rx Buffer overflow. The servo drive received (or sent) more than two PDOs of COBID within 1ms. 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 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 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 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 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 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 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 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. When PDO is receiving or sending, check if the error occurs because the specified object reads EEPROM. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL129 Error occurs when writing CANopen PDO object via EEPROM	Cause: An error occurs when saving the current value into ROM. When PDO is receiving or sending, check if the error occurs because the specified object is wrote into EEPROM. Remedy: NMT: Reset node or 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 (likely due to software update where old version data cannot be used). Check that when PDO is receiving or sending, if the specified object enables EEPROM address exceeds the limit. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL131 CRC of EEPROM calculation error occurs when using CANopen PDO object	Cause: The data stored in ROM is damaged. All CANopen objects automatically return to the default value. Check if the specified object would cause CRC calculation error in EEPROM when PDO is receiving or sending. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL132 Enter the incorrect password when using CANopen PDO object	Cause: When entering parameters via CAN, parameters are password-protected. Check if the specified object enters the wrong password when PDO is receiving or sending. Remedy: Users have to decode the password first. NMT: Reset node or 0x6040.Fault Reset.
AL185 Abnormal CAN Bus hardware	Cause: Abnormal CAN Bus hardware detected. Check if the communication cable of CAN Bus is good. Check if the communication quality is good (suggested to use common grounding and shielded cable). Remedy: NMT: Reset node or re-servo on.
AL201 An error occurs when loading CANopen data	Cause: An error occurs when loading CANopen data. If the alarm is cleared when re-servo on, it means the data error occurred instantaneously during previous access. If the error still exists after re-servo on, it means the data in EEPROM is damaged. Remedy: The user must enter the correct value again: DI:ARST, CANopen 0x1011 Restore default parameter. If entering default value: Set P2-08 to 30, 28 or CANopen object as 0x1011. If entering current value: Set CANopen object to 0x1010.
AL213 Error writing parameter via PR (Parameter exceeds range)	Cause: PR command TYPE 8 error. The parameter exceeds the range. Remedy: DI: Alm Reset or P0-01 = 0.
AL215 Error writing parameter via PR (Parameter is read-only)	Cause: PR command TYPE 8 error. The parameter is read-only. Remedy: Re-adjust PR command and parameters.
AL217 Error writing parameter via PR (Servo On or invalid value)	Cause: PR command TYPE 8 error. Servo On state prevents writing or value is invalid. Remedy: Re-adjust PR command and parameters.
AL235 PR command overflows	Cause: PR mode continuously operates in one direction causing feedback register overflow. Coordinate system cannot reflect correct position. Occurs if issuing absolute positioning command (except incremental) at this time. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL245 PR positioning is over time	Cause: PR positioning is over time. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL249 The number of PR command exceeds the range	Cause: The number of PR command exceeds the range. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL261 Index error occurs when accessing CANopen object	Cause: The specified Index in the message does not exist. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL263 Sub-Index error occurs when accessing CANopen object	Cause: The specified Sub-Index in the message does not exist. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 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. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 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. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL269 CANopen object is read-only and write-protected	Cause: The specified object in the message is write-protected. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL266 CANopen PDO Object is not allowed in PDO	Cause: The specified object in the message does not support PDO. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: NMT: Reset node or 0x6040.Fault Reset.
AL268 CANopen object is write-protected when Servo On	Cause: The specified object in the message is write-protected when Servo ON. This alarm should not occur momentarily. If it does, please contact distributors. Remedy: 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 return to the default value automatically. Remedy: Check: This alarm will not occur at the moment. If it does, please contact the distributors. Action: 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: Check: This alarm will not occur at the moment. If it does, please contact the distributors. Action: 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: Check: This alarm will not occur at the moment. If it does, please contact the distributors. Action: 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: Check: This alarm will not occur at the moment. If it does, please contact the distributors. Action: 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: Check: This alarm will not occur at the moment. If it does, please contact the distributors. Action: 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. When the protection function is activated, the actual position might not be over the limit. Remedy: Check: Setting an appropriate decelerating time could satisfy the demand. Please refer to the description of parameter P5-03. Action: 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. When the protection function is activated, the actual position might not be over the limit. Remedy: Check: Setting an appropriate decelerating time could satisfy the demand. Please refer to the description of parameter P5-03. Action: NMT: Reset node or 0x6040.Fault Reset.
AL289 Feedback position counter overflows	Cause: Feedback position counter overflows. Remedy: Check: This alarm will not occur at the moment. If it does, please contact the distributors. Action: 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 servo on the drive too early. Action: 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). Action: 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. Action: 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. Action: NMT: Reset node or 0x6040.Fault Reset.
AL304 CANopen IP command fails	Cause: CANopen IP command fails. Remedy: Check: The calculating time of IP mode takes too long. Please disable USB monitoring function. Action: NMT: Reset node or 0x6040.Fault Reset.
AL305 SYNC Period is in error	Cause: SYNC Period is in error. Remedy: Check: Examine the content of 0x1006. If it is smaller than or equals to 0, the alarm will occur. Action: NMT: Reset node or 0x6040.Fault Reset.
AL380 Position Deviation Alarm	Cause: DO.MC_OK is ON and becomes OFF because DO.TPOS turns OFF. Remedy: Check: Please refer to the description of parameter P1-48. The position of the motor might be deviated by the external force after positioning. This alarm can be cleared by P1-48.Y=0. Action: DI: Alm Reset or P0-01= 0.