Delta ASDA-A+ Plus Servo Drive Fault Codes List

Access the complete reference guide for Delta ASDA-A+ servo drive fault codes. Learn to diagnose high-resolution encoder alarms, tuning instability, and use ASDA-Soft.

This guide provides the most updated reference for 2026 to help you troubleshoot these legacy high-precision systems.

Delta ASDA-A+ Fault Codes Reference Table

Use the search bar below or browse the table to identify your specific error code.

ASDA-A&A+ Series Faults and Alarms

ASDA-A&A+ Series Troubleshooting

Fault Code and Meaning Cause and Remedy
ALE01

Overcurrent		 Cause:
  • Short-circuit at drive output (U, V, W).
  • Motor wiring error.
  • IGBT error (Heat sink overheated).
  • Control parameter setting error.
  • Control command setting error (unstable input).

Remedy:
  • Check wiring connections; repair short-circuited wires and avoid exposed metal.
  • Follow the wiring steps in the user manual to reconnect wiring.
  • Contact your distributor for assistance or contact Delta.
  • Set settings back to factory default and re-adjust.
  • Ensure input command frequency is stable; activate filter function.
ALE02

Overvoltage		 Cause:
  • The main circuit voltage has exceeded its maximum allowable value.
  • Input power error (Incorrect power input).

Remedy:
  • Use voltmeter to check input voltage; use correct power supply or stabilizing power.
ALE03

Undervoltage		 Cause:
  • The main circuit voltage is below its minimum specified value.
  • No input voltage at main circuit.
  • Input power error (Incorrect power input).

Remedy:
  • Reconfirm voltage wiring.
  • Reconfirm power switch.
  • Use correct power supply or serial stabilizing power.
ALE05

Regeneration error		 Cause:
  • Regenerative resistor is not connected.
  • Regenerative switch transistor fault.
  • Parameter setting is in error.

Remedy:
  • Reconnect regenerative resistor.
  • Contact your distributor for assistance or contact Delta.
  • Confirm specifications and correctly reset parameter again.
ALE06

Overload		 Cause:
  • The drive has exceeded its rated load during continuous operation.
  • Control system parameter setting is incorrect (mechanical vibration or Accel/Decel too fast).
  • The wiring of drive and encoder is in error.

Remedy:
  • Increase motor capacity or reduce load.
  • Adjust gain value of control circuit; Decrease Accel/Decel time setting.
  • Ensure all wiring is correct (Check U, V, W and encoder).
ALE07

Overspeed		 Cause:
  • Speed input command is not stable (too much fluctuation).
  • Over-speed parameter setting is defective (value too low).

Remedy:
  • Ensure input command frequency is stable and activate filter function (P1-06, P1-07, P1-08).
  • Correctly set over-speed parameter setting (P2-34).
ALE08

Abnormal pulse control command		 Cause:
  • Pulse command frequency is higher than rated input frequency.

Remedy:
  • Correctly set the input pulse frequency.
ALE09

Excessive deviation		 Cause:
  • Maximum deviation parameter setting is too small.
  • Gain value is too small.
  • Torque limit is too low.
  • There is an overload.

Remedy:
  • Increase the parameter setting value of P2-35.
  • Correctly adjust gain value.
  • Correctly adjust torque limit value.
  • Reduce external applied load or re-estimate the motor capacity.
ALE10

Watch dog execution time out		 Cause:
  • Watch dog execution error.

Remedy:
  • Check and reset the power supply.
  • If abnormal conditions persist after reset, contact distributor or Delta.
ALE11

Encoder error (Position detector fault)		 Cause:
  • The wiring of encoder is in error.
  • Encoder is loose.
  • The wiring of encoder is defective (connections not tight).
  • Encoder is damaged.
  • The circuit (loop) of Encoder is in error.

Remedy:
  • Ensure all wiring is correct according to user manual.
  • Install the motor again.
  • Conduct the wiring again.
  • Repair or replace the motor.
  • Repair or replace the drive.
ALE12

Adjustment error		 Cause:
  • The setting value of drift adjustment has exceeded its maximum allowable value.

Remedy:
  • Remove CN1 wiring.
  • Execute the drift adjustment again (Set P2-08 to 20 first, and then set P4-10 to 5).
  • If error persists, contact distributor or Delta.
ALE13

Emergency stop activated		 Cause:
  • Emergency stop switch is activated.

Remedy:
  • Activate (reset) emergency stop switch.
ALE14

Reverse (CWL) limit switch error		 Cause:
  • Reverse limit switch is activated.
  • Servo system is not stable.

Remedy:
  • Activate (reset) reverse limit switch.
  • Modify parameter setting and re-estimate motor capacity.
ALE15

Forward (CCWL) limit switch error		 Cause:
  • Forward limit switch is activated.
  • Servo system is not stable.

Remedy:
  • Activate forward limit switch.
  • Modify parameter setting and re-estimate motor capacity.
ALE16

IGBT temperature error		 Cause:
  • The drive has exceeded its rated load during continuous operation.
  • Short-circuit at drive output.

Remedy:
  • Increase motor capacity or reduce load.
  • Ensure all wiring is correct.
ALE17

Memory error		 Cause:
Data error in Memory read-out / write-in.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE18

DSP communication error		 Cause:
Control power is in error.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE19

Serial communication error		 Cause:
  • Communication parameter setting is defective.
  • Communication address is incorrect.
  • Communication value is incorrect.

Remedy:
  • Correctly set parameter setting.
  • Correctly set communication address.
  • Correctly set communication value.
ALE20

Serial communication time out		 Cause:
  • Setting value in time out parameter is not correct.
  • Not receiving communication command for a long time.

Remedy:
  • Correctly set P3-07.
  • Tighten the communication cable, make sure the communication cable is not damaged and ensure all wiring is correct.
ALE21

Command write-in error		 Cause:
Control power is in error.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE22

Input power phase loss		 Cause:
Control power supply is in error.

Remedy:
If the fault does not clear even when the three-phase power is connected correctly, please contact your distributor for assistance or contact with Delta.
ALE23

Pre-overload warning		 Cause:
The drive is going to overload.

Remedy:
  1. Please refer to the correction actions of ALE06.
  2. Increase the setting value of P1-56 or set P1-56 to 100 and above.
ALE97

Internal command execution time out		 Cause:
An error occurs when internal command is executing.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE98

DSP communication error		 Cause:
Maybe the hardware is damaged.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE99

DSP communication error		 Cause:
Maybe the hardware is damaged.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE04

"Mismatch" error		 Cause:
The type of the servo motor is incorrect.

Remedy:
Repair or replace the servo drive or the servo motor.
ALE24

Encoder error (Position detector fault)		 Cause:
Maybe the Encoder is damaged.

Remedy:
If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
ALE25

Encoder error (Position detector fault)		 Cause:
The servo drive automatically detect the servo motor is in error.

Remedy:
  1. Please connect the grounding (green color) of U, V, W terminal to the heatsink of the servo drive.
  2. Ensure that the encoder signal cables are placed in separate conduits from the cables connected to R, S, T and U, V, W terminals to prevent the interference.
  3. Please use shielded cables for Encoder wiring.

How to Read ASDA-A+ Faults via Keypad & ASDA-Soft

Troubleshooting the ASDA-A+ differs from the standard A-Series primarily in how feedback is handled. In 2026, using the correct tools is vital to distinguishing between noise and hardware failure:

  • ASDA-Soft (PC Tool): Connect via the CN3 port.
    • Scope Function: Because the ASDA-A+ handles high-resolution feedback, it is more sensitive to “Gain” settings. Use the digital scope to monitor Position Error. If the drive trips on AL009 (Deviation Too Large), the scope will show if the motor is lagging due to mechanical binding or if the Electronic Gear Ratio (P1-44/45) is set incorrectly for the high-res encoder.
  • Keypad Monitoring: The display is your first line of defense.
    • Feedback Check: Press MODE to view the feedback pulse count. On an ASDA-A+, rotating the shaft one revolution should result in a massive number change (1,280,000 counts) compared to the standard A-Series (10,000 counts). If the numbers don’t change or jump erratically, your encoder or cable is damaged.

Frequently Asked Questions (FAQ)

Q: What is the main difference between ASDA-A and ASDA-A+ faults?

A: While the AL codes are largely the same, the cause often differs:

  • Tuning Faults (AL006/AL009): The ASDA-A+ is far more sensitive. Old mechanical systems with backlash that worked on an ASDA-A might cause resonance (vibration) and overload faults on an ASDA-A+ due to the higher stiffness required by the high-res encoder.

Q: How do I fix “AL011” (Encoder Error) on the A+ Series?

A:

  • Cable: The high-resolution signal is sensitive to noise. Ensure the CN2 cable is shielded and separated from the power cable.
  • Motor Compatibility: Verify the motor model ends in a code supported by the A+ drive. You cannot plug a standard 2500ppr motor into an A+ drive configured for 20-bit absolute mode without changing parameters.

Q: How do I reset a Delta ASDA-A+ fault?

A:

  1. Digital Input: Toggle the input configured for ARST (Alarm Reset).
  2. Keypad: Locate the Reset parameter or hold the SET key on the alarm screen.
  3. Power Cycle: Required for major hardware faults like AL001 (Overcurrent) or AL003 (Undervoltage).

 

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