Delta ASDA-B3 Servo Drive

Delta ASDA-B3 Servo Drive Fault Codes:

Fault Code and Meaning	Cause and Remedy
AL001 Overcurrent	Cause: The servo drive output is short-circuited. Motor wiring is in error. IGBT is abnormal. Remedy: Check the connection between the motor and servo drive; ensure wire is not short-circuited and metal is not exposed. Check if wiring sequence follows the manual. If heat sink temperature is abnormal, return drive to distributor. Check if parameter values are much greater than default; reset to factory settings. Clear: DI.ARST
AL002 Overvoltage	Cause: Input voltage is higher than allowable rated value. Incorrect power input (incorrect power system). Malfunction of servo drive hardware. Incorrect selection of regenerative resistor or no connection to external resistor. Remedy: Use voltmeter to check input voltage; use regulator or transformer if necessary. If voltage is normal but alarm persists, contact Delta. Check connection for regenerative resistor and re-calculate values for P1.052 and P1.053. Clear: DI.ARST
AL003 Undervoltage	Cause: Input voltage is lower than allowable rated value. No voltage input to main circuit. Incorrect power input. Remedy: Check if voltage wiring is correct. Check power supply switch and measure main circuit voltage. Ensure power system complies with specifications (use transformer if needed). Clear: Set P2.066 [Bit 2]. If 0: use DI.ARST. If 1: auto-clears when voltage returns to normal.
AL004 Motor combination error	Cause: Servo drive connected to the wrong motor. Encoder connector is loose. Encoder is damaged. Remedy: Use the right motor. Check and re-install the encoder connector. If encoder is not operating properly, replace the motor. Clear: Cycle power on the servo drive.
AL005 Regeneration error	Cause: Incorrect selection/connection of regenerative resistor. P1.053 is not set to 0 when resistor is not connected. Incorrect parameter settings for P1.052 and P1.053. Remedy: Check connection, re-calculate and set P1.052 and P1.053 correctly. Set P1.053 to 0 if not using a regenerative resistor. Clear: DI.ARST
AL006 Overload	Cause: Load is over rated range (continuous overload). Improper parameter settings. Incorrect wiring of motor/encoder. Encoder malfunction. Remedy: Set P0.002 to 12 to monitor load rate. If >100%, increase motor capacity or reduce load. Check for mechanical vibration or drastic accel/decel settings. Check UVW and encoder wiring. Clear: DI.ARST
AL007 Excessive deviation of Speed command	Cause: Drastic change in input Speed command. Improper setting of P2.034. Incorrect wiring of UVW and encoder cables. Remedy: Check input analog voltage; adjust rate of change or enable filter. Check if P2.034 is set properly. Check wiring of UVW and encoder cables. Clear: DI.ARST
AL008 Abnormal pulse command	Cause: Pulse command frequency is higher than the rated input frequency. Remedy: Use scope to check input frequency. Correctly set the input pulse frequency. Clear: DI.ARST
AL009 Excessive deviation of Position command	Cause: Max position deviation (P2.035) set too low. Gain value set too low. Torque/speed limit set too low. Excessive external load. Improper E-Gear ratio or loose power cables. Remedy: Check P2.035; set a higher value if too low. Adjust gain value. Check internal speed/torque limits (P1.009-P1.014) or disable P1.002. Reduce external load or re-evaluate motor capacity. Check P1.044, P1.045, and power cable tightness. Clear: DI.ARST
AL010 Voltage error during regeneration	Cause: Voltage remains at 400V; regen resistor incorrectly selected/connected. P1.053 not set to 0 when no resistor is connected. Remedy: Check connection and settings for P1.052/P1.053. Set P1.053 to 0 if not using a regenerative resistor. Clear: DI.ARST
AL011 Encoder error	Cause: Encoder wiring incorrect, poor, or connector loose. Interference cutting off connection. Encoder damaged. Remedy: Check wiring against manual and secure CN2 connector. Check for interference (grounding, shielding). Set P0.002 to -80 to check error rate. Replace motor if issue persists. Clear: Cycle power on the servo drive.
AL012 Calibration error	Cause: Analog input contact not returned to zero. Detection device damaged. Remedy: Check if voltage level at analog input is same as ground potential. Reset power supply. If issue persists, contact Delta. Clear: Remove CN1 cable and execute auto calibration.
AL013 Emergency stop	Cause: The emergency stop button is pressed. Remedy: Make sure the emergency stop button is off. Clear: Set DI.EMGS to off.
AL014 Negative limit error	Cause: Negative limit switch triggered. Servo system is unstable. Remedy: Make sure negative limit switch is off. Check parameter setting or re-estimate motor capacity. Clear: Automatically cleared when motor moves away from limit.
AL015 Positive limit error	Cause: Positive limit switch triggered. Servo system is unstable. Remedy: Make sure positive limit switch is off. Check parameter setting or re-estimate motor capacity. Clear: Automatically cleared when motor moves away from limit.
AL016 Abnormal IGBT temperature	Cause: Continuous overload condition. Servo drive output is short-circuited. Remedy: Check for overload; increase capacity or reduce load. Check servo drive output wiring. Clear: DI.ARST
AL017 EEPROM error	Cause: Parameter writing error or value exceeds allowable range. ROM data damaged or missing upon power up. Remedy: If panel shows “E320A” (P2.010) or “E3610” (P6.016): Check parameter value. If “E100X” or “E0001”: Data damaged, contact Delta. Clear: Reset parameters and cycle power, or use DI.ARST.
AL018 Encoder output error	Cause: Encoder pulse resolution set too high. Interference or cable damage. Encoder error. Remedy: Ensure settings of P1.076 and P1.046 follow the formula requirements. Check communication error rate (P0.002 to -80) for interference. Check grounding and shielding.
AL020 Serial communication timeout	Cause: RS-485 communication error. Improper parameter setting for P3.004 (Modbus communication timeout). Servo drive has not received command for a long time and timed out. Remedy: Check and correctly set the value for the communication timeout parameter. Check if the communication cable is loose or broken and ensure correct wiring. To Clear: DI.ARST.
AL022 RST leak phase	Cause: RST power cable is loose or there is no power. (Note: AL022 is a warning by default. To set as alarm, set P2.066 [Bit 12] to 1). Remedy: Check if RST power cable is loose or if there is no power. For 1.5 kW or below: occurs when all three phases are not connected. For 2 kW or above: occurs when one single phase is not connected. Correctly connect power to the servo drive. If issue persists, contact Delta/distributor. To Clear: DI.ARST.
AL023 Early overload warning	Cause: Early overload warning detected. Remedy: Check if motor is overloaded (refer to AL006 corrective actions). Check if P1.056 (Motor output overload warning level) is set too low. Set higher or >100 to disable. To Clear: DI.ARST.
AL024 Encoder initial magnetic field error	Cause: The UVW phase of the encoder is in error (initial magnetic field error). Remedy: Check if motor is properly grounded (power cable green end to heat sink). Check if encoder signal cable connection is normal and separated from high-current cables. Use a shielded cable for the encoder, ground the mesh. If issue persists, send motor back to distributor. To Clear: Cycle power on the servo drive.
AL025 Encoder internal error	Cause: Encoder internal memory and counter are in error. Motor rotates due to inertia when power applied. Remedy: Check if motor is properly grounded. Check encoder signal cable connection and separation from power lines. Use a shielded cable and ground the mesh. Make sure motor shaft does not move when power is on. To Clear: Cycle power on the servo drive.
AL026 Encoder unreliable internal data	Cause: Internal data error occurs three consecutive times. External interference. Malfunction of encoder hardware. Remedy: Check grounding and cable connections (as per interference checks). Use a shielded cable. Set P0.002 to -80 to monitor communication error rate. If >0 and increasing, check cabling/grounding. If 0, hardware fault (send back). To Clear: Cycle power on the servo drive.
AL027 Encoder internal reset error	Cause: Encoder reset error. Remedy: Check if encoder signal cable is firmly connected. Check if encoder power supply is stable; use shielded cable. Check if operating temp is over 95°C (203°F). Cool down before restart. If issue persists, send motor back. To Clear: Cycle power on the servo drive.
AL028 Battery voltage error or encoder internal error	Cause: Battery voltage > 3.8V (too high). Encoder internal error. Remedy: Check charging circuit/wiring. Ensure Pin 1 (5V) of CN2 is NOT connected to BAT+. Check if battery is correctly installed. Check motor grounding and encoder cable connections/shielding to avoid interference. If issue persists, send drive/motor back. To Clear: Cycle power on the servo drive.
AL029 Gray code error	Cause: Absolute position error. Remedy: Cycle power to operate motor, then check if alarm recurs. If issue persists, replace the encoder. To Clear: Cycle power on the servo drive.
AL02A Number of revolutions of the encoder is in error	Cause: Internal signal of encoder is abnormal causing error in revolution count. Remedy: Send your servo motor back to the distributor or contact Delta. To Clear: N/A.
AL02B Motor data error	Cause: Accessing the internal data of the motor is in error. Remedy: Send your servo motor back to Delta. To Clear: N/A.
AL02F Blocked rotor protection	Cause: Motor/mechanical part locked; motor not rotating. Motor running at extremely low speed or blocked for a long time. Remedy: Set motor speed higher to shorten duration of “blocked” state. Check if mechanical part is working normally. Check UVW and encoder wiring. Send motor back if necessary. To Clear: DI.ARST.
AL030 Motor collision error	Cause: Motor hit device; torque > P1.057 for time > P1.058. Remedy: Check if motor hard stop protection (P1.057) is enabled. Set to 0 to disable. Check if P1.057 is too low or P1.058 too short. Adjust to actual torque requirements. To Clear: DI.ARST.
AL031 Motor power cable wiring error / disconnection	Cause: Incorrect wiring or disconnection of U, V, W, or GND. Disconnection detection (P2.065 Bit 9) or Wiring error detection (P2.065 Bit 8) enabled. Remedy: Check if motor power cable (U, V, W) and ground are firmly connected. Follow manual for correct wiring and grounding. To Clear: Cycle power on the servo drive.
AL032 Abnormal encoder vibration	Cause: Abnormal vibration in encoder. Internal signal or mechanical part abnormal. Remedy: Check if motor vibration range is within 2.5 G. If within range but issue persists, send motor back. To Clear: DI.ARST or cycle power on the servo drive.
AL033 Motor is in error	Cause: The motor is in error. Remedy: Send your servo motor back to Delta. To Clear: Send back.
AL034 Encoder internal communication error	Cause: Internal communication error for absolute encoder. Internal error for other encoder types. Remedy: Check if battery wiring is correct/loose. Rewire and cycle power. Check if battery voltage is within normal range. If internal communication error occurs, replace the motor. To Clear: Cycle power on the servo drive.
AL035 Encoder temperature exceeds the protective range	Cause: Encoder temperature > 100°C (212°F). Remedy: Set P0.002 to -124 to read temp. Improve heat dissipation. If difference between encoder and motor temp > 30°C, send motor back. To Clear: Cycle power after temp drops below 100°C.
AL036 Encoder alarm status error	Cause: Encoder sends alarm signal, but status read by drive shows no error. Remedy: Check motor grounding, encoder cable connection, and shielding (interference checks). Check motor speed is within rated range. If issue persists, send motor back. To Clear: DI.ARST or cycle power on the servo drive.
AL042 Analog voltage input for Speed command is too high	Cause: Analog voltage input > level specified in P1.083. Remedy: Check voltage source for analog Speed command. Check P1.083 value. Set to 0 if function not required. To Clear: DI.ARST.
AL044 Servo function operational warning	Cause: Too many motor control functions enabled. Remedy: Disable unnecessary filters (low-pass, moving, notch, friction comp, etc.). Set P2.066 [Bit 4] to 1 to disable this alarm. To Clear: Set P2.066 [Bit 4] to 1 and cycle power.
AL045 E-Gear ratio value error	Cause: E-Gear ratio exceeds range (1/4 – 262144) after power cycle. Remedy: Check if E-Gear ratio is within allowable range. Correct the value. To Clear: Cycle power on the servo drive after correction.
AL048 Encoder output error	Cause: Output pulse frequency > hardware maximum. Pulse resolution set too high. Interference or cable damage. Remedy: Verify settings of P1.076 and P1.046 match formula requirements. Check communication error rate (P0.002 to -80). Check grounding and shielding to prevent interference.
AL053 Motor parameters are not confirmed	Cause: The Motor Parameter Identification Wizard function has not been executed for the motor or the identification process failed. Remedy: Execute or re-execute the Motor Parameter Identification Wizard function. Switch the servo to the Servo Off state to clear this alarm.
AL056 Excessive motor speed	Cause: Filtered motor speed exceeds the setting of P1.111 (upper limit reached). Remedy: Check if P1.111 is set too small or bandwidth is not properly set. Evaluate motor speed and mechanical condition. If allowable, increase P1.111. Execute DI.ARST to clear.
AL05C Motor position feedback error	Cause: Sudden jumps occur in motor position feedback due to abnormal/damaged encoder or interference. Remedy: Use software scope to check “Feedback position [PUU]” for discontinuous jumps. Check for interference causing jumps. Check communication error rate (set P0.017 to -80, monitor P0.009). Cycle power on the servo drive.
AL060 Absolute position is lost	Cause: Low battery voltage, battery replaced while power off, battery not installed, or poor connection. Remedy: Check if battery voltage is below 2.9V. Re-establish absolute origin after replacing. Do not replace battery when servo main power is off. Check wiring between battery box, servo drive, and encoder. Ensure battery power reaches the encoder, then re-establish absolute origin (Refer to Section 10.3.4).
AL061 Encoder undervoltage	Cause: Voltage level of the absolute encoder battery is lower than the rated value (3.1V). Remedy: Read battery voltage (monitoring variable 26h) or measure manually. If low, replace battery when servo drive’s main power is On. Alarm clears automatically.
AL062 Number of revolutions of the absolute encoder overflows (issued by encoder)	Cause: Motor’s rotation cycle exceeds the allowable range (-32768 to +32767). Remedy: Check if revolutions are within range. If not, re-establish the absolute origin coordinate. Cycle power on the servo drive.
AL064 Encoder vibration warning	Cause: Abnormal vibration occurred in the encoder (internal signal or mechanical part). Remedy: Check if motor vibration range is within 2 G. If issue persists, send servo motor back to distributor or Delta. Execute DI.ARST or cycle power.
AL066 Number of revolutions of the absolute encoder overflows (issued by servo drive)	Cause: Motor’s rotation cycle exceeds the allowable range (exceeds half of encoder resolution). Remedy: Check if motor’s revolutions are within range (-32768 to +32767). Re-establish the absolute origin coordinate.
AL067 Encoder temperature warning	Cause: Encoder temperature is between 85°C and 100°C. Remedy: Set P0.002 to -124 to read encoder temperature. Improve heat dissipation or decrease operating temperature. If difference between encoder and motor temp > 30°C, send motor back to Delta. Cycle power on the servo drive.
AL068 Absolute data transmitted by I/O is in error	Cause: Wrong time sequence when reading absolute position by DI/O, or reading timeout. Remedy: Correct time sequence: DI.ABSQ off after DO.ABSR off; DI.ABSQ on after DO.ABSR on. Check timing: Ensure DI.ABSQ switches on within 200ms of DO.ABSR switching on. Cycle power on the servo drive.
AL069 Wrong motor type	Cause: Incremental motor does not support the absolute function. Remedy: Check if motor has incremental or absolute encoder. Set P2.069.X to 0 if desiring to operate absolute motor as incremental. Cycle power on the servo drive.
AL06A Absolute position is lost	Cause: 1. Absolute coordinate not established (First use, battery drained, E-Gear modified). 2. Error occurred (Cable damaged, power failure, J1/J2 reversed, Voltage < 2.9V). Remedy: Check if absolute origin coordinate is established (Section 10.3.1). Replace battery while servo drive is powered on. Re-establish absolute origin coordinate. Check encoder cable (internal wiring) and connections. Ensure J1 connects to battery and J2 to servo drive. Alarm clears automatically after origin is established.
AL06B Error between servo drive internal coordinate and encoder coordinate is too large	Cause: Motor rotated while powered by battery causing large error between internal and encoder coordinates. Remedy: Ensure mechanical parts are properly fastened during transport. Re-establish the absolute origin coordinate.
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: Process for establishing absolute position timed out or is in error. Remedy: Cycle power on the servo drive and re-establish absolute origin coordinate. If issue persists, contact local distributor.
AL070 Encoder did not complete the read / write procedure	Cause: Reading and writing commands are not complete. Remedy: Check if wiring is correct and firmly connected. Cycle power on the servo drive.
AL071 Number of revolutions of the encoder is in error	Cause: Internal signal of the encoder is abnormal. Remedy: Execute DI.ARST. If issue persists, send servo motor back to distributor/Delta.
AL072 Encoder overspeed	Cause: Speed > 8,800 rpm (powered) or > 10,000 rpm (battery), or low battery voltage. Remedy: Check grounding (Green cable to heat sink). Separate encoder signal cable from power/high-current cables. Use shielded encoder cable with grounded mesh. Check motor speed is within rated range. Check battery voltage and wiring. Cycle power on the servo drive.
AL073 Encoder memory error	Cause: Error reading/writing to EEPROM. Remedy: Check grounding and signal cable separation. Use shielded cable and ground the mesh. Check motor speed. Cycle power on the servo drive. If persists, contact distributor.
AL074 Encoder single-turn absolute position is in error	Cause: Single-turn position in encoder is in error. Remedy: Check grounding and signal cable separation. Use shielded cable and ground the mesh. Check motor speed. Cycle power on the servo drive. If persists, contact distributor.
AL075 Encoder absolute number of revolutions is in error	Cause: Absolute number of revolutions in encoder is in error. Remedy: Check if motor is properly grounded. (Follow similar grounding/shielding steps as previous encoder alarms).
AL077 Encoder internal error	Cause: Encoder internal error (internal computing error). Remedy: Check if the motor is properly grounded. Make sure the power cable (green end) is grounded to the servo drive heat sink. Check if the connection for the encoder signal cable is normal. Make sure the encoder signal cable is separated from the power supply or any high-current cables to avoid interference. Use a shielded cable for the encoder, pull out the shielded mesh, and ground it. Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. Action: 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 activate the parameter. Action: 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. Action: N/A
AL07B Encoder memory is busy	Cause: The encoder memory is busy. Remedy: Check if the motor is properly grounded. Make sure the power cable (green end) is grounded to the servo drive heat sink. Check if the connection for the encoder signal cable is normal. Make sure the encoder signal cable is separated from the power supply or any high-current cables to avoid interference. Use a shielded cable for the encoder, pull out the shielded mesh, and ground it. Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. Action: Cycle power on the servo drive.
AL07C Command to clear the absolute position is issued when the motor speed is over 200 rpm	Cause: The command to clear the absolute position is issued when the motor speed is over 200 rpm. Remedy: Check if a command to clear the absolute position is issued while the motor speed is over 200 rpm. If so, follow the procedure for clearing the absolute position to clear this alarm. Do not issue a command to clear the absolute position when the motor speed is over 200 rpm. Action: 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 power is cycled on the servo drive, causing the motor to stop 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. Action: 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: If the issue persists, set P0.002 to -80 to check the communication quality of the encoder. If the communication is normal, use DI.ARST to clear this alarm. Action: Cycle power on the servo drive.
AL07F Encoder version error	Cause: The encoder version read by the servo drive is in error. Remedy: N/A (Checking method). Action: Replace the motor immediately.
AL083 Servo drive outputs excessive current	Cause: Current is over the allowable level (IGBT protection). 1. UVW cable is short-circuited. 2. Motor wiring is in error. 3. The analog signal GND for the servo drive is interfered. Remedy: Check the connection between the motor power cable and its connector. If metal wire is exposed or the wire is torn, the UVW cable can short-circuit. Replace power cable if needed. Refer to Chapter 3 Wiring. Make sure UVW wiring sequence is correct and correctly connected. Check if the analog signal GND is mistakenly connected to another ground signal. Do not use a common ground for the analog signal GND and other signal cables. Action: DI.ARST.
AL085 Regeneration setting error	Cause: Regeneration control error. Regenerative resistor is not operating, but the regenerative voltage remains at 400V for a period of time. Remedy: Check the connection for the regenerative resistor, re-calculate the value for the regenerative resistor, and correctly set the values of P1.052 and P1.053. If the issue persists, send your servo drive back to Delta. Action: DI.ARST.
AL086 Regenerative resistor overload	Cause: Excessive energy in the capacitor causes overload. 1. Incorrect selection or no connection of regenerative resistor. 2. Incorrect parameter settings (P1.052, P1.053). 3. Other energy (interference) or high input voltage. 4. Malfunction of servo drive hardware. Remedy: Check connection for the regenerative resistor and set P1.052/P1.053 correctly. Reassess whether regenerative energy exceeds the value of P1.053. If so, replace with a higher capacity resistor. Use a voltmeter to measure if input voltage is within allowable range. Remove interference source if needed. Measure voltage between P3 and (-) terminals. If it does not match displayed DC Bus voltage (P0.002 code 14), drive may be malfunctioning. Contact Delta. Use a scope to check for high-frequency signal interference. Remove interference or connect regulator in series. Action: 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 (e.g., low-pass P1.006-P1.008, moving filter P1.068, 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 the environment around the servo drive for interference sources. Remove the interference source or move the servo drive away. Set P2.112 [Bit 1] to 0 to disable AL089. If the issue persists, send your servo drive back to the distributor or contact Delta.
AL08A Auto-tuning function – command error	Cause: No command issued within 15s after auto-tuning starts. 1. Controller/position register did not issue command. 2. Position 1 and Position 2 specify the same position. 3. Signal cable not connected or incorrectly connected. Remedy: Make sure a command is issued. Set the two positioning points again. Check for the wiring between the controller and the servo drive. Action: DI.ARST.
AL08B Auto-tuning function – pause time is too short	Cause: Pause time in the cycle is too short for the auto-tuning algorithm. Remedy: For reciprocating motion, pausing is required on the return (> 1 second). For rotation in a single direction, pause time is required after a certain number of cycles (> 2 cycles). Action: DI.ARST.
AL08C Auto-tuning function – inertia estimation error	Cause: Inertia estimation error during auto-tuning. 1. Accel/Decel time too long. 2. Rotation speed too slow. 3. Load inertia too large. 4. Inertia variation too drastic. Remedy: Ensure Accel/Decel time (0-3000 rpm) is within 1.5 seconds. Lowest speed should be ≥ 200 rpm (suggest 500 rpm). Load inertia should be less than 50 times the motor inertia. Avoid applications that require drastic variation in inertia. Action: DI.ARST.
AL099 DSP firmware error	Cause: EEPROM is not reset after DSP firmware is updated. Remedy: Check if the firmware is updated. Set P2.008 to 30 first and then set it to 28. Cycle power on the servo drive. Contact Delta if this error persists.
AL09C Parameter reset failed	Cause: An error occurred during the parameter reset process, so the reset procedure could not be completed. Remedy: Check if the power is cut off during the reset process. Check the power wiring and switch. Action: Set P2.008 to 30 and then 28. Cycle power on the servo drive.
AL09F Capacitor charging error	Cause: Charging time of capacitor exceeds normal range. 1. Input voltage low or current too low. 2. Incorrect setting of P4.024. 3. IGBT error. Remedy: Check if voltage wiring is correct and input voltage is normal. Check power supply switch and measure main circuit voltage. Check if power system complies with specifications (right voltage source/transformer). Check wiring of external regenerative resistor. Send servo drive back to distributor or contact Delta. Action: Cycle power on the servo drive.
AL0A6 Absolute position coordinates of the servo drive and motor do not match	Cause: Servo drive and motor mismatch (e.g. Drive A with Motor B) causing coordinate origin conflict. Context: Replace the servo drive or servo motor. Remedy: Re-establish the absolute origin coordinate.
AL111 Buffer overflow occurs when SDO is received	Cause: SDO Rx Buffer overflows (the servo drive receives more than two SDOs within 1 ms). Remedy: Check if the servo drive (master) receives or sends more than one SDO within 1 ms. Action: NMT: reset node, 0x6040 fault reset, or DI.ARST.
AL112 Buffer overflow occurs when PDO is received	Cause: PDO Rx Buffer overflows (the servo drive receives more than two PDOs of the same COB-ID within 1 ms). Remedy: Check if the servo drive (master) receives or sends more than one PDO of the same COB-ID within 1 ms. Action: NMT: reset node, 0x6040 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 properly. Action: NMT: reset node, 0x6040 fault reset, or DI.ARST.
AL121 Object’s index does not exist when PDO is accessed	Cause: The specified object’s index number is incorrect, so the servo drive cannot identify it. Remedy: Check if the object’s index number for PDO mapping of the controller is correct. If index is correct, the object may not be supported. Check if you can substitute it with a different object. Action: NMT: reset node, 0x6040 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: Check if the object’s sub-index number for PDO mapping of the controller is correct. 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. Clear: NMT: reset node, 0x6040 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 PDO. Clear: NMT: reset node, 0x6040 fault reset, or DI.ARST.
AL124 Data range error occurs when PDO is accessed	Cause: The data value in the message is out of range for the specified object. Remedy: Check if the written data is within range when the servo drive receives or sends PDO. Clear: NMT: reset node, 0x6040 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. Clear: NMT: reset node, 0x6040 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 PDO. Clear: NMT: reset node, 0x6040 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 PDO in the Servo On state. Clear: NMT: reset node, 0x6040 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 reads from EEPROM when the servo drive receives or sends PDO. Clear: NMT: reset node, 0x6040 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 PDO. Clear: NMT: reset node, 0x6040 fault reset, or DI.ARST.
AL130 Accessing address of EEPROM is out of range	Cause: The amount of data in the ROM is greater than the allowable space 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 PDO. Clear: NMT: reset node, 0x6040 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 PDO. Usually, this alarm is caused by an error in DSP. Clear: NMT: reset node, 0x6040 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. Clear: NMT: reset node, 0x6040 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: Check if the communication is normal. Check if the wiring is correctly connected. Clear: NMT: reset node, 0x6040 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: Check if the communication is normal. Check if the wiring is correctly connected. Clear: NMT: reset node, 0x6040 fault reset, or DI.ARST.
AL185 Bus hardware error	Cause: Condition: bus communication is cut off. Cause: abnormal communication hardware. Remedy: Check if the communication cable is intact and firmly connected. Check the communication quality. It is suggested that you use common grounding and shielded cable. For communication type models, check if the value of monitoring variable 120 increases continuously. Clear: NMT: reset node, 0x6040 fault reset, or DI.ARST.
AL186 Bus data transmission error	Cause: Bus data transmission error. Remedy: 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. There are an excessive number of slave stations and the communication cycle time is too short. Lengthen the communication cycle. Clear: NMT: reset node, 0x6040 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: 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. If the issue persists after power cycling, the data in EEPROM is damaged. (a) To write the default value, set P2.008 to 30 and then 28, or use CANopen object 0x1011. (b) To write the current value, set the CANopen object 0x1010. If corrective actions fail, the data array is incorrect. Set P2.008 to 10 to reset the parameters. Clear: 0x6040 fault reset, DI.ARST, or 0x1011.
AL207 Parameter group of Type [8] PR is out of range	Cause: Condition: parameter group of Type [8] PR command is out of range. Cause: the group of Type [8] PR command source exceeds the range. Remedy: Write parameter using PR procedure: when the parameter group of command source exceeds the range, check the group setting of the written parameters. Clear: DI.ARST
AL209 Parameter number of Type [8] PR is out of range	Cause: Condition: parameter number of Type [8] PR command is out of range. Cause: the number of Type [8] PR command source exceeds the range. Remedy: Write parameter using PR procedure: when the parameter number of command source exceeds the range, check the set range of the number for the written parameters. 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. Cause: 1. Incorrect parameter format. 2. The ASDA-Soft software version and the firmware version do not match. Remedy: Check if the parameter format is correct. Check if you are using the latest version of the ASDA-Soft software. If the issue persists, contact the local distributor or technician. 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. Clear: DI.ARST
AL215 Write parameters: read-only	Cause: Condition: when you use the PR procedure to write the parameter, the parameter is read-only. Cause: an error occurs when you write the parameter with Type [8] PR command. Remedy: The specified parameter is read-only. Clear: DI.ARST
AL217 Write parameters: write-protected when Servo On	Cause: Condition: when you use the PR procedure 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 parameter when the servo drive is off and make sure the parameter value is within the range. Clear: Modify the PR command and the parameter.
AL219 Write parameters: parameter cannot be written	Cause: Condition: this parameter 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. Clear: Disable the parameter and data array protection function or reset the parameters.
AL231 Monitoring item of Type [8] PR is out of range	Cause: Condition: the code of the monitoring item for Type [8] PR command is out of range. Cause: the code of the monitoring item is out of range. Remedy: Write parameter using PR procedure: when the code of the monitoring item exceeds the range, check the code range for the monitoring item. Clear: DI.ARST
AL235 Position counter overflow warning	Cause: Condition: a positioning command is executed after the overflow of the position command counter. Cause: overflow of the position command counter. Remedy: Incremental system: When the motor keeps operating in one direction, this leads to overflow of the position feedback register. Use the scope to check if the feedback position has overflowed and then execute the homing procedure. Absolute system: This error occurs when absolute positioning is issued in the following conditions: Position feedback register (FB_PUU) overflows. The absolute origin coordinate is not established after setting P1.001.Z. The absolute origin coordinate is not established after E-Gear ratio change. Procedure incomplete. When AL060/AL062 occur, check for overflow and establish absolute origin coordinate. Clear: (Inc) Perform homing after DI.ARST; (Abs) Establish absolute origin coordinate.
AL237 Indexing coordinate is undefined	Cause: The starting point of the indexing coordinate is not defined before you operate the indexing function and execute the indexing positioning command. This alarm occurs because the servo drive cannot identify the coordinate system. Remedy: Check if the indexing coordinate is undefined: perform the homing procedure before using the indexing function to avoid triggering this alarm. Clear: DI.ARST
AL245 PR positioning timeout	Cause: Condition: PR positioning function is triggered. 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 causing the PR command incomplete. Clear: DI.ARST or cycle power on the servo drive.
AL249 PR path number is out of range	Cause: Condition: the number of the triggered PR path exceeds the upper limit. 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. Clear: DI.ARST or cycle power on the servo drive.
AL283 Software positive limit	Cause: Condition: the target position specified by the command exceeds the software positive limit. Cause: the software positive limit is triggered. Remedy: The software positive limit is determined by the Position command instead of the actual feedback position. The actual position may not have exceeded the limit. Set the appropriate deceleration time to achieve the desired effect. Refer to P5.003. Clear: Automatically cleared after the motor moves away from the limit.
AL285 Software negative limit	Cause: Condition: the target position specified by the command exceeds the software negative limit. Cause: the software negative limit is triggered. Remedy: The software negative limit is determined by the Position command instead of the actual feedback position. The actual position may not have exceeded the limit. Set the appropriate deceleration time to achieve the desired effect. Refer to P5.003. Clear: Automatically cleared after the motor moves away from the limit.
AL289 Position counter overflows	Cause: Position counter overflows. Remedy: Set the gear ratio according to the actual application requirements and the total traveling distance of the absolute motor to avoid overflow of the feedback counter. If P2.069.Z is set to 1 (enabling the function of preventing indexing coordinate from overflow), set P2.070 [Bit 2] to 1. To clear: DI.ARST
AL301 CANopen synchronization failure	Cause: Condition: the synchronization with the controller fails when you use the CANopen IP mode (in B mode). Communication fails to synchronize. Remedy: Make sure the communication between the servo drive and controller is good. After eliminating any problems that you find, allow the controller to re-send the synchronization signal and ensure that it is sent successfully. Modify the setting for P3.009 (the default value is suggested). To clear: NMT reset node or 0x6040 fault reset.
AL302 Synchronization signal of CANopen is sent too soon	Cause: Condition: the synchronization signal is received too early when you use the CANopen IP mode (in B mode). The synchronization signal of CANopen is sent too soon. Remedy: Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller. Modify the synchronization error range setting (P3.009.U). Ensure the correct time sequence of sending packets from the controller. A drift or delay in packet sending time causes synchronization failure. To clear: NMT reset node or 0x6040 fault reset.
AL303 CANopen synchronization signal timeout	Cause: Condition: the synchronization with the controller fails when you use the CANopen IP mode (in B mode). Timeout of CANopen synchronization signal. Remedy: Make sure the communication between the servo drive and controller is good. Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller. Modify the synchronization error range setting (P3.009.U). Ensure the correct time sequence of sending packets from the controller. A drift or delay in packet sending time causes synchronization failure. When the servo drive is in the operation mode of PV (Profile velocity mode) or HM (Homing mode), check if P3.017 is set too low. To clear: NMT reset node or 0x6040 fault reset.
AL304 Invalid interpolation mode command	Cause: Condition: the servo drive cannot send the command when in CANopen IP mode (except in B mode). The interpolation command fails. Remedy: The computing time takes too long. Disable the USB monitoring function. To clear: NMT reset node or 0x6040 fault reset.
AL305 SYNC period error	Cause: Condition: CANopen 301 Obj 0x1006 Data Error. SYNC period is in error. Remedy: Check the value of 0x1006. If it is smaller than or equal to 0, this alarm occurs. To clear: NMT reset node or 0x6040 fault reset.
AL35F Emergency stop during deceleration	Cause: The rising edge of DI(0x47) is triggered, and then the motor decelerates to 0 and triggers AL3CF. Remedy: Check if any of the parameters, P2.010 – P2.017 and P2.036 – P2.040, is set to DI(0x47) and is 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: Refer to the description of P1.048. DO.MC_OK is on, but then it goes off because DO.TPOS turns off. There might be an external force causing the position offset of the motor after positioning is complete. Disable this 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 of the parameters, P2.010 – P2.017 and P2.036 – P2.040, is set to DI(0x47) and is triggered. To clear: Cycle power on the servo drive.
AL3E1 Communication fails to synchronize	Cause: Condition: the communication synchronization with the controller fails in CANopen IP mode (except in B mode). Communication fails to synchronize. Remedy: Make sure the communication between the servo drive and controller is good. After eliminating any problems that you find, allow the controller to re-send the synchronization signal and ensure that it is sent successfully. Modify the setting for P3.009 (the default value is suggested). To clear: NMT reset node or 0x6040 fault reset.
AL3E2 Communication synchronization signal is sent too soon	Cause: Condition: the synchronization signal is received too early. The communication synchronization signal is sent too soon. Remedy: Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller. Modify the synchronization error range setting (P3.009.U). Ensure the correct time sequence of sending packets from the controller. A drift or delay in packet sending time causes synchronization failure. To clear: NMT reset node or 0x6040 fault reset.
AL3E3 Communication synchronization signal timeout	Cause: The target command is not received within a continuous communication cycle in CANopen IP mode (except in B mode). Remedy: Make sure the communication between the servo drive and controller is good. Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller. Modify the synchronization error range setting (P3.009.U). (For B3-M and B3-F models.) Modify the setting of IP command timeout (P3.022.YX). (For B3-E models.) Ensure the correct time sequence of sending packets from the controller. A drift or delay in packet sending time causes synchronization failure. To clear: NMT reset node or 0x6040 fault reset.
AL3F1 Absolute position command of the communication type servo drive is in error	Cause: Condition: the bus communication type servo drive is in combination with an incremental motor, position overflow occurs, absolute origin not established, and absolute positioning command is issued. 1. The absolute origin coordinate is not established. 2. Overflow occurs since the motor keeps rotating in the same direction. Remedy: Establish the absolute origin coordinate.
AL400 Indexing coordinate setting error	Cause: Condition: the position offset of the motor in 1 ms exceeds the setting of P2.052 (Indexing coordinates scale). The value of P2.052 is set too small. 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. Use NMT: reset node or 0x6040 fault reset. To clear: DI.ARST
AL404 PR special filter setting value is too great	Cause: Condition: the value of the PR command special filter (P1.022) is set too great causing the following error of the internal position to exceed the allowable range. Remedy: Check the setting of P1.022. If the value is too great, the following error exceeds the allowable range in a short time. Adjust the value of P1.022. To clear: DI.ARST
AL422 Write-in failed caused by power supply cut-off	Cause: Condition: if P2.069.Z is set to 1 and the power supply is cut off, the motor fails to store the current position. 1. The load is over the rated range (continuous overload). 2. Internal variables vary after firmware update. 3. Hardware EEPROM abnormal. 4. Hardware short-circuited. 5. AL520 occurred. Remedy: Set P0.002 to 12 for monitoring if the average load rate [%] is continuously over 100%. If so, increase motor capacity or reduce load. If the issue persists, send your servo drive back to the distributor or contact Delta. To clear: Cycle power on the servo drive.
AL500 STO function is enabled	Cause: Safe torque off function (STO) is enabled. Remedy: Check why STO is enabled. Reset by using DI.ARST, 0x6040 fault reset, or setting P0.001 to 0. If not using the STO function, plug the short circuit terminal into CN10 or wire to short-circuit the block (Follow Chapter 3 instructions).
AL501 STO_A lost (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 second. Remedy: Make sure the wiring of STO_A is correct. To clear: Cycle power on the servo drive.
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 second. Remedy: Make sure the wiring of STO_B is correct. To clear: Cycle power on the servo drive.
AL503 STO self-diagnostic error	Cause: An error occurs during STO self-diagnosis, which may be caused by an abnormality in the STO circuit. Remedy: Contact the distributor.
AL510 Internal parameter update program of the servo drive is abnormal	Cause: Internal parameter update program of the servo drive is abnormal. Remedy: If this alarm occurs when the motor parameter identification function is executing, cycle power on the servo drive and re-execute the motor parameter identification function.
AL520 Calculation program timeout	Cause: Servo drive calculation program timeout. Remedy: Cycle power on the servo drive. If the alarm persists, disable the vibration elimination function by setting [Bit 8] and [Bit 9] of P2.094 to 0.
AL521 Vibration elimination parameter error	Cause: Condition: the input value for the vibration elimination parameter is not appropriate. 1. Input value is not appropriate. 2. The Bode plot is in error due to other factors. Remedy: Perform system analysis again and correctly set the value for the vibration elimination parameter. If the issue persists, disable the vibration elimination function by setting [Bit 8] and [Bit 9] of P2.094 to 0.
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.
AL809 PR motion setting error or command decoding error	Cause: Condition: an error occurs when the servo drive decodes the motion command. Incorrect motion command or abnormal software compiling may cause error in the PR program. Remedy: If this alarm occurs when the servo is not in the PR mode, save the parameter file and provide it to the distributor. For advanced users: save the scope screenshot when the alarm occurs. Set P5.007 and P0.001 for the two channels and save the oscillogram. To clear: Cycle power on the servo drive.