Delta ASDA-A Servo Drive Fault Codes List
Access the complete 2026 reference guide for legacy Delta ASDA-A servo drive fault codes. Learn to diagnose AL.xx alarms, replace aging capacitors, and use ASDA-Soft.
This guide provides the most updated reference for 2026 to help you keep these legacy servo systems running or plan for a retrofit.
Delta ASDA-A Fault Codes Reference Table
| Fault Code and Meaning | Other |
| ALE01: Overcurrent | Potential Cause - Short-circuit at drive output (U, V, W) - Motor wiring error - IGBT error - Control parameter setting error - Control command setting error Checking Method - Check the wiring connections between drive and motor. 2. Check if the wire is short-circuited. - Check if the wiring steps are all correct when connecting motor to drive. - Heat sink overheated - Check if the setting value exceeds the factory default setting. - Check if the control input command is unstable (too much fluctuation). Corrective Actions - Repair the short-circuited and avoid metal conductor being exposed. - Follow the wiring steps in the user manual to reconnect wiring. - Please contact your distributor for assistance or contact with Delta. - Set the setting back to factory default setting and then reset and adjust the parameter setting again. - Ensure that input command frequency is stable (too much fluctuation). 2. Activate filter function. |
| ALE02: Overvoltage | Potential Cause - The main circuit voltage has exceeded its maximum allowable value. - Input power error (Incorrect power input) Checking Method - Use voltmeter to check whether the input voltage falls within the rated input voltage. (For voltage specification, please refer to section 11.1 in Chapter11.) - Use voltmeter to check whether the input voltage is within the specified limit. Corrective Actions - Use correct power supply or stabilizing power. - Use correct power supply or stabilizing power. |
| ALE03: Undervoltage | Potential Cause - The main circuit voltage is below its minimum specified value. - No input voltage at main circuit. - Input power error (Incorrect power input) Checking Method - Check whether the wiring of main circuit input voltage is normal. - Use voltmeter to check whether input voltage at main circuit is normal. - Use voltmeter to check whether the input voltage is within the specified limit. Corrective Actions - Reconfirm voltage wiring. - Reconfirm power switch. - Use correct power supply or serial stabilizing power. |
| ALE04: Reserved | Corrective Actions - (Note: This applies to the standard ASDA-A series. This code has a different meaning for the ASDA-A+ series, listed separately below.) |
| ALE05: Regeneration error | Potential Cause - Regenerative resistor is not connected. - Regenerative switch transistor fault - Parameter setting is in error Checking Method - Check the wiring connection of regenerative resistor. - Check if regenerative switch transistor is short-circuited. - Confirm the parameter setting and specifications of regenerative resistor. Corrective Actions - Reconnect regenerative resistor. - Please contact your distributor for assistance or contact with Delta. - Correctly reset parameter again. |
| ALE06: Overload | Potential Cause - The drive has exceeded its rated load during continuous operation. - Control system parameter setting is incorrect. - The wiring of drive and encoder is in error. Checking Method - Check if the drive is overloaded. - Check if there is mechanical vibration. - Accel/Decel time setting is too fast. - Check the wiring of U, V, W and encoder. Corrective Actions - Increase motor capacity or reduce load. - Adjust gain value of control circuit. - Decrease Accel/Decel time setting. - Ensure all wiring is correct. |
| ALE07: Overspeed | Potential Cause - Speed input command is not stable (too much fluctuation). - Over-speed parameter setting is defective. Checking Method - Use signal detector to detect if input signal is abnormal. - Check if over-speed parameter setting value is too low. Corrective Actions - Ensure that input command frequency is stable (not fluctuate too much) and activate filter function (P1-06, P1-07 and P1-08). - Correctly set over-speed parameter setting (P2-34). |
| ALE08: Abnormal pulse control command | Potential Cause - Pulse command frequency is higher than rated input frequency. Checking Method - Use pulse frequency detector to measure input frequency. Corrective Actions - Correctly set the input pulse frequency. |
| ALE09: Excessive deviation | Potential Cause - Maximum deviation parameter setting is too small. - Gain value is too small. - Torque limit is too low. - There is an overload. Checking Method - Check the maximum deviation parameter setting and observe the position error value when the motor is running. - Check for proper gain value. - Check torque limit value. - Check for overload condition. Corrective Actions - Increases 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 | Potential Cause - Watch dog execution error. Checking Method - Check and reset the power supply. Corrective Actions - If there are any abnormal conditions after resetting the power supply, please contact your distributor for assistance or contact with Delta. |
| ALE11: Encoder error (Position detector fault) | Potential Cause - The wiring of encoder is in error. - Encoder is loose - The wiring of encoder is defective. - Encoder is damage - The circuit (loop) of Encoder is in error. Checking Method - Check if all wiring is correct. 2. Check if the users conduct the wiring by the wiring information in the user manual. - Examine the encoder connector. - Check if all connections are tight. - Check the motor for the damage. - Check the drive for the damage. Corrective Actions - Ensure all wiring is correct. - Install the motor again. - Conduct the wiring again. - Repair or replace the motor. - Repair or replace the drive. |
| ALE12: Adjustment error | Potential Cause - The setting value of drift adjustment has exceeded its maximum allowable value. Checking Method - Remove CN1 wiring. 2. Execute the drift adjustment again. (Set P2-08 to 20 first, and then set P4-10 to 5.) Corrective Actions - If the error does not clear after executing the drift adjustment again, please contact your distributor for assistance or contact with Delta. |
| ALE13: Emergency stop activated | Potential Cause - Emergency stop switch is activated. Checking Method - Check if emergency stop switch is On or Off. Corrective Actions - Activate emergency stop switch. |
| ALE14: Reverse (CWL) limit switch error | Potential Cause - Reverse limit switch is activated. - Servo system is not stable. Checking Method - Check if reverse limit switch is On or Off. - Check the value of control parameter setting and load inertia. Corrective Actions - Activate reverse limit switch. - Modify parameter setting and re-estimate motor capacity. |
| ALE15: Forward (CCWL) limit switch error | Potential Cause - Forward limit switch is activated. - Servo system is not stable. Checking Method - Check if forward limit switch is On or Off. - Check the value of control parameter setting and load inertia. Corrective Actions - Activate forward limit switch. - Modify parameter setting and re-estimate motor capacity. |
| ALE16: IGBT temperature error | Potential Cause - The drive has exceeded its rated load during continuous operation. - Short-circuit at drive output. Checking Method - Check if there is overload or the motor current is too high. - Check the drive input wiring. Corrective Actions - Increase motor capacity or reduce load. - Ensure all wiring is correct. |
| ALE17: Memory error | Potential Cause - Data error in Memory read-out/write-in. Checking Method - Reset parameter or power supply. Corrective Actions - 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 | Potential Cause - Control power is in error. Checking Method - Check and reset control power Corrective Actions - 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 | Potential Cause - Communication parameter setting is defective. - Communication address is incorrect. - Communication value is incorrect. - Setting value in time out parameter is not correct. - Not receiving communication command for a long time. Checking Method - Check the communication parameter setting. - Check the communication address. - Check the communication value. - Check communication time out parameter setting. - Check whether communication cable is loose or broken. Corrective Actions - Correctly set parameter setting. - Correctly set communication address. - Correctly set communication value. - Correctly set P3-07. - Tighten the communication cable, make sure the communication cable is not damaged and ensure all wiring is correct. |
| ALE20: Serial communication time out | Potential Cause - Communication parameter setting is defective. - Communication address is incorrect. - Communication value is incorrect. - Setting value in time out parameter is not correct. - Not receiving communication command for a long time. Checking Method - Check the communication parameter setting. - Check the communication address. - Check the communication value. - Check communication time out parameter setting. - Check whether communication cable is loose or broken. Corrective Actions - Correctly set parameter setting. - Correctly set communication address. - Correctly set communication value. - 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 | Potential Cause - Control power is in error. Checking Method - Check and reset control power Corrective Actions - 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 | Potential Cause - Control power supply is in error. Checking Method - Check the power cable and connections of R, S. T. Check whether the power cable is loose or the possible loss of phase on input power. Corrective Actions - 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 | Potential Cause - The drive is going to overload. Checking Method - Check the load condition of the servo motor and drive. - Check the setting value of P1-56. Check whether the setting value of P1-56 is to small. Corrective Actions - Please refer to the correction actions of ALE06. - Increase the setting value of P1-56 or set P1-56 to 100 and above. |
| ALES7: Internal command execution time out | Potential Cause - An error occurs when internal command is executing. Checking Method - Check and reset control power Corrective Actions - 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 | Potential Cause - Maybe the hardware is damaged. Checking Method - Check and reset control power Corrective Actions - 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 | Potential Cause - Maybe the hardware is damaged. Checking Method - Check and reset control power Corrective Actions - If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta. |
| ALE04: "Mismatch" error (ASDA-A+ Series Only) | Potential Cause - The type of the servo motor is incorrect. Checking Method - Check if the servo drive and servo motor are not correctly matched for size (power rating). Corrective Actions - Repair or replace the servo drive or the servo motor. |
| ALE24: Encoder error (Position detector fault) (ASDA-A+ Series Only) | Potential Cause - Maybe the Encoder is damaged. Checking Method - N/A (See corrective action) Corrective Actions - 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) (ASDA-A+ Series Only) | Potential Cause - The servo drive automatically detect the servo motor is in error. Checking Method - Check if the servo motor is properly grounded. - Check if 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. - Check if the shielded cables are used when performing Encoder wiring. Corrective Actions - Please connect the grounding (green color) of U, V, W terminal to the heatsink of the servo drive. - 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. - Please use shielded cables for Encoder wiring. |
How to Read ASDA-A Faults via Keypad & Software
Maintaining the ASDA-A in 2026 requires understanding its legacy interface. Unlike modern drives with USB-C, the A-Series relies on specific cabling and older software versions:
- ASDA-Soft (Legacy Version): You cannot use the newest software features with this drive. Connect your PC via the CN3 Port using the specific Delta cable (often RS-232 or RS-485 conversion).
- Digital Scope: Use the scope to monitor “Torque Command” vs “Actual Speed.” If the drive is hunting (oscillating) and trips on AL006 (Overload), the mechanical system may have developed backlash over the years, requiring de-tuning of the PID gains.
- 5-Button Keypad: The built-in display is the primary diagnostic tool.
- Status Monitor: Press the MODE button to switch from the “AL” code to the feedback display. Checking the “Pos Error” (Position Deviation) is vital to see if the motor is stalling before the fault occurs.
- Capacitor Aging: If you frequently see AL003 (Undervoltage) on a machine with stable power, the DC Bus capacitors inside the 15+ year old drive have likely dried out and require board repair or drive replacement.
Frequently Asked Questions (FAQ)
Q: What does the “AL011” (Encoder Error) code mean?
A: This is the most common fault on older machines.
- Loose Connection: The CN2 connector (Encoder Cable) often works loose due to vibration.
- Cable Break: The encoder cables on moving gantries eventually fatigue and break internally.
- Motor Fault: The optical encoder disk inside the motor may be damaged by oil or dust ingress over time.
Q: How do I reset a Delta ASDA-A fault?
A:
- Keypad: Navigate to the parameter or monitor screen and hold the SET (or Enter) key (depending on the specific fault type).
- Digital Input: Trigger the DI pin configured for “Alarm Reset” (Function 0x04).
- Power Cycle: Essential for hardware faults like AL001 (Overcurrent) or AL002 (Overvoltage).
Q: Can I replace an ASDA-A with an ASDA-A2 or A3?
A: Yes, but it is not a direct “plug-and-play” swap.
- Connectors: The CN1 (I/O) and CN2 (Encoder) pinouts are different. You will need new cables or custom breakout boards.
- Parameters: You must manually migrate the P1/P2 gain settings, as the scaling differs between generations.
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