Delta Servo Drive Alarm Codes

Delta servo drives used in Mach Motion Torch Height control systems.

 

AL001: Over current
Causes Checking Method Corrective Actions
The drive output is
short-circuit
Check if the wiring between the motor
and the drive is correct and see if the
wire is short-circuited.
Eliminate short-circuit and
avoid metal conductor being
exposed.
The motor wiring is
in error.
Check if the wiring steps are correct
when connecting the motor to the drive.
Rewiring by following the
wiring description from the
user manual.
IGBT is abnormal The temperature of the heat sink is
abnormal
Send the drive back to the
distributors or contact with
Delta
The control
parameter setting is
in error.
Check if the setting value exceeds the
default setting
Setting back to the default
setting and then gradually
adjust the value.
Unreasonable
command
Check if the command doing
reasonable acceleration time.
Less steep command used or
filter applying to smooth
command.


AL002:Over voltage
Causes Checking Method Corrective Actions
The input voltage of
the main circuit is
higher than the
rated allowable
voltage.
Use the voltmeter to see if the input
voltage of the main circuit is within the
rated allowable voltage value. (please
refer to Chapter 10.1)
Apply to the correct power
supply or serial voltage
regulator.
Wrong power input
(incorrect power
system)
Use the voltmeter to see if the power
system matches the specification.
Apply to the correct power
supply or serial adaptor.
The hardware of
the servo drive is
damaged.
Use the voltmeter to see if the input
voltage of the main circuit is within the
rated allowable voltage value but still
shows the error.
Send the drive back to the
distributors or contact with
Delta.


AL003:Under voltage
Causes Checking Method Corrective Actions
The input voltage of
the main circuit is
lower than the rated
allowable voltage.
Check if the input voltage wiring of the
main circuit is normal.
Re-confirm the voltage wiring.
No power supply
for the main circuit.
Use the voltmeter to see if the voltage
of the main circuit is normal.
Check the power switch
Wrong power input Use the voltmeter to see if the power Apply to the correct power
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-5
(incorrect power
system)
system matches the specification. supply or serial adaptor.


AL004:Motor combination error
Causes Checking Method Corrective Actions
The encoder is
damaged.
The encoder is abnormal. Change the motor
The encoder is
loose.
Check the encoder connector. Install the motor again.
Motor Combination
Error
Connect to the right motor. Change the motor


AL005:Regeneration error
Causes Checking Method Corrective Actions
Choose wrong
regenerative
resistor or does not
connect to external
regenerative
resistor
Check the connection of regenerative
resistor.
Calculate the value of the
regenerative resistor again
and correctly set the value of
P1-52 and P1-53. If issue
persists, please send the
drive back to the distributors
or contact with Delta.
Parameter P1-53 is
not set to zero
when the
regenerative
resistor is not in
use.
Check if parameter P1-53 of
regenerative resister is set to zero.
Set parameter P1-53 of
regenerative resistor to zero
when it is not applying.
Wrong parameter
setting
Check the setting value of parameter
P1-52 and P1-53.
Correctly reset the value of
P1-52 and P1-53.


AL006:Overload
Causes Checking Method Corrective Actions
Over the rated
loading of the drive
and continuously
excessive using
Set parameter P0-02 to 11 and see if
the average torque [%] is over 100% all
the time.
Increase the motor capacity
or reduce the load.
The setting of the
control system
parameter is
inappropriate.
1. Check if there is any mechanical
vibration.
2. Check if the acceleration /
deceleration constant are set too fast.
1. Adjust the gain value of the
control circuit.
2. Slow down the
acceleration / deceleration
setting time.
Wrong wiring of the
motor and the
encoder.
Check the wiring of U, V, W and the
encoder.
Correct wiring
The encoder of the
motor is defective.
Send the drive back to the distributors or contact with Delta.
Chapter 9 Troubleshooting ASDA-B2
9-6 Revision December 2014


AL007:Overspeed
Causes Checking Method Corrective Actions
Unreasonable
command
Use the scope to check if the signal of
analog voltage is abnormal.
Less steep command used
or filter applying to smooth
command.
Inappropriate
parameter setting
Check if the setting of parameter P2-34
is too small (the condition of over-speed
warning).
Correctly set parameter P2-
34 (the condition of overspeed warning).


AL008:Abnormal pulse command
Causes Checking Method Corrective Actions
The pulse
command
frequency is higher
than the rated input
frequency.
Use the scope to check if the input
frequency is over the rated input
frequency.
Correctly set the input pulse
frequency.


AL009:Excessive deviation of Position Command
Causes Checking Method Corrective Actions
Parameter P2-35 is
set too small
Check the setting value of parameter
P2-35 (The warning condition of
excessive position deviation)
Increase the setting value of
P2-35 (The warning condition
of excessive position
deviation)
The setting of the
gain value is too
small.
Check if the setting value is
appropriate
Correctly adjust the gain
value
The torque limit is
too low.
Check the torque limit value Correctly adjust the torque
limit value
Excessive external
load
Check the external load Reduce the external load or
evaluate the motor capacity
again


AL011:Encoder error
Causes Checking Method Corrective Actions
Wrong wiring of the
encoder
Check if the wiring follows the
suggested wiring of the user manual.
Correct wiring
The encoder is loose Check the drive connector of CN2
and encoder
Install the encoder again
Bad connection of the
encoder
Check if the connection between
CN2 of the drive and the encoder of
the servo motor is loose
Reconnect the wiring
The encoder is
damaged
Check if the motor is damaged Change the motor
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-7


AL012:Adjustment error
Causes Checking Method Corrective Actions
The analog input
contact is incorrectly
set back to zero
Measure if the voltage of the analog
input contact is the same as the
ground voltage
Correctly ground the analog
input contact
The detection device
is damaged
Reset the power supply If issue persists, send the
drive back to the distributors
or contact with Delta.


AL013:Emergency stop
Causes Checking Method Corrective Actions
Press the emergency
stop button
Check if the emergency stop button
is enabled.
Activate emergency stop


AL014:Reverse limit error
Causes Checking Method Corrective Actions
Reverse limit switch is
activated.
Check if the limit switch is enabled. Enable the reverse limit
switch
The servo system is
unstable.
Check the control parameter and
inertia ratio
Re-adjust the parameter or
evaluate the motor capacity.


AL015:Forward limit error
Causes Checking Method Corrective Actions
Forward limit switch is
activated.
Check if the limit switch is enabled. Enable the forward limit
switch
The servo system is
unstable.
Check the control parameter and
inertia ratio
Re-adjust the parameter or
evaluate the motor capacity.


AL016:IGBT Overheat
Causes Checking Method Corrective Actions
Over the rated
loading of the drive
and continuously
excessive using
Check if it is overloading or the motor
current is too high.
Increase the motor capacity
or reduce the load.
The drive output is
short-circuit
Check the drive output wiring Correct wiring


AL017:Abnormal EEPROM
Causes Checking Method Corrective Actions
It is in error when
DSP accesses
EEPROM.
Press the SHIFT Key on the panel
and it shows EXGAB.
X = 1, 2, 3
G = group code of the parameter
AB = hexadecimal of the parameter
The fault occurs when
applying to the power. It
means one of the parameters
is over the reasonable range.
Please re-power on after
Chapter 9 Troubleshooting ASDA-B2
9-8 Revision December 2014
If it shows E320A, it means it is
parameter P2-10; If it shows E3610,
it means it is parameter P6-16.
Please check the parameter.
adjusting.
The fault occurs in normal
operation. It means it is in
error when writing the
parameter. The alarm can be
cleared by DI.ARST.
Abnormal hidden
parameter
Press the SHIFT Key on the panel
and it shows E100X
The fault occurs in parameter
reset. The setting of the drive
is wrong. Please set the
correct type of the drive.
Data in ROM is
damaged.
Press the SHIFT Key on the panel
and it shows E0001
The fault occurs when it is
servo-on. Usually it is
because the data in ROM is
damaged or there is no data
in ROM. Please send the
drive back to the distributors
or contact with Delta.


AL018:Abnormal signal output
Causes Checking Method Corrective Actions
The encoder is in
error and cause the
abnormal signal
output
Check the fault records (P4-00~P4-
05). See if the alarm exists with the
encoder error (AL011, AL024,
AL025, AL026)
Conduct the corrective
actions of AL.011, AL.024,
AL.025, AL.026
The output pulse
exceeds the hardware
allowable range.
Check if the following conditions
produce:
P1-76 < Motor Speed or
6 1019.8 4 461P
60
Speed Motor 
Correctly set parameter P1-
76 and P1-46:
P1-76 > Motor Speed or
6 1019.8 4 461P

AL019:Serial communication error
Causes Checking Method Corrective Actions
Improper setting of
the communication
parameter
Check the setting value of
communication parameter
Correctly set the parameter
value
Incorrect
communication
address
Check the communication address Correctly set the
communication address
Incorrect
communication value
Check the accessing value Correctly set the value


AL020:Serial communication time out
Causes Checking Method Corrective Actions
Improper setting of
the time-out
parameter
Check the parameter setting Correctly set the value
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-9
The drive hasn’t
received the
communication
command for a long
time.
Check if the communication cable is
loose or broken.
Correct wiring


AL022:Main circuit power lack phase
Causes Checking Method Corrective Actions
The main circuit
power is abnormal
Check if RST power cable is loose or
does not connect to the power. This
alarm occurs when no power
connects to single phase 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
Causes Checking Method Corrective Actions
Early warning for
overload
1. Check if it is used in overload
condition.
2. Check if the value of parameter
P1-56 is set to small.
1. Please refer to the
corrective actions of
AL006.
2. 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
Causes Checking Method Corrective Actions
The initial magnetic
field of the encoder is
in error
(Signal, U, V, W of
the encoder magnetic
field is in error.)
1. Check if the servo motor is
properly grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
If issue persists, please send
the drive back to the
distributors or contact with
Delta.


AL025:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The internal of the
encoder is in error.
(The internal memory
and the internal
counter are in error)
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
Chapter 9 Troubleshooting ASDA-B2
9-10 Revision December 2014
used in the wiring of the encoder. the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL026:Unreliable internal data of the encoder
Causes Checking Method Corrective Actions
The encoder is in
error.
(Errors occur in the
internal data for three
times continuously)
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL027:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The internal reset of
the encoder is in
error.
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL028:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The encoder U, V, W
signals are in error.
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-11
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL029:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The internal address
of the encoder is in
error.
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL030:Motor crash error
Causes Checking Method Corrective Actions
Motor Crash Error
1. Check if P1-57 is enabled.
2. Check if P1-57 is set too small and
the time of P1-58 is set too short.
1. If it is enabled by mistake,
please set P1-57 to zero.
2. 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.
Chapter 9 Troubleshooting ASDA-B2
9-12 Revision December 2014


AL031:Incorrect wiring of the motor power line U, V, W
Causes Checking Method Corrective Actions
The wiring of U, V, W
of the motor is
incorrect connected
or the connection is
breakdown.
Check if U, V, W of the motor is
incorrect connected or the
connection is breakdown.
Follow the user manual to
correctly wire U, V, and W
and make sure it is
grounded.


AL035:Encoder temperature exceeds the protective range
Causes Checking Method Corrective Actions
Encoder temperature
is over 120°C.
Check if the environment
temperature is excessive or the
motor temperature is over 105°C.
Try to reduce operating
temperature.


AL048:Excessive encoder output error
Causes Checking Method Corrective Actions
Encoder error causes
abnormal encoder
output.
Exam error recording (P4-00 ~ P4-
05) to check if encoder error also
occurs. (AL011, AL024, AL025,
AL026)
Please refer to the corrective
actions of AL011, AL024,
AL025 and AL026
The output pulse
exceeds hardware
tolerance.
Check if following conditions occur:
P1-76 < Motor speed or
6 1019.8 4 461
60
speedMotor P 
Correctly set P1-76 and P1-
46:
P1-76 > Motor speed and
6 1019.8 4 461

AL067:Encoder temperature warning
Causes Checking Method Corrective Actions
Encoder temperature
is over 100°C.
Check if the operating temperatur
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-13
2. Check if there is any problem of
lack phase when connecting
UVW from servo to motor
(unconnected or wrong
connection)
Analog signal (GND)
from servo drive is
interfered
Check if the GND of analog signal is
misconnected to other signal.
Please refer to Chapter 3 and
conduct the wiring again.
GND of analog signal cannot
be grounded with other
signals.


AL085:Regeneration error
Causes Checking Method Corrective Actions
Choose wrong
regenerative resistor or
does not connect to
external regenerative
resistor
Check the connection of
regenerative resistor.
Calculate the value of the
regenerative resistor again
and correctly set the value of
P1-52 and P1-53. If issue
persists, please send the
drive back to the distributors
or contact with Delta.
Parameter P1-53 is not
set to zero when the
regenerative resistor is
not in use.
Check if parameter P1-53 of
regenerative resister is set to zero.
Set parameter P1-53 of
regenerative resistor to zero
when it is not applying.
Wrong parameter
setting
Check the setting value of
parameter P1-52 and P1-53.
Correctly reset the value of
P1-52 and P1-53.


AL099:DSP firmware upgrade
Causes Checking Method Corrective Actions
Upgrade DSP firmware Check if the firmware is upgraded. Firstly set P2-08 to 30. Then
set P2-08 to 28, the alarm
will be cleared when repower on.
AL555:System failure
Causes Checking Method Corrective Actions
DSP processing error N/A If AL555 occurs, do not do
any anything and send the
drive back to the distributors
or contact with Delta.

Chapter 9 Troubleshooting ASDA-B2
9-14 Revision December 2014
AL880:System failure
Causes Checking Method Corrective Actions
DSP processing error N/A If AL880 occurs, do not do
any anything and send the
drive back to the distributors
or contact with Delta. 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Keywords: Delta Servo Alarm Code AL000 AL00 Al001 al002 al002 al003 al004 al006 al005 al007 al008 plasma torch height THC ERROR Servo error control Zslide plasma z plazma control box warning al code 

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