AL.009 Position Error out of range – Delta servo troubleshooting

<= See All alarms of Delta servo

Name Description ALM WRN SRV ON Clear


Position error exceeds P2-35   NO DI.ARST

Causes Checking Method 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
Improper setting of E-gear ratio Make sure if the proportion of P1-44 and P1-45 is appropriate Correctly setup E-gear ratio

(The above information is referenced from Delta Electronics IMSBU)

↓ The following content is contributed by users ↓

Other reasons Checking Method Actions
Speed limit P1-55 too small(Archer) Check if position cmd frequency exceeds P1-55 with Scope of ASDA-Soft increase P1-55
power line U, V, W is disconnected(Archer) Check if the power line U, V, W is disconnected or is in poor contact?  
inproper cmd from the host controller(yujan) position cmd from communication is too far from the current position check the program of the host controller

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2 thoughts on “AL.009 Position Error out of range – Delta servo troubleshooting

  • 2021-05-28 at 14:12:15

    Replaced encoder after drive gave al11. New encoder had 2 wires less. Start and gives al09

    • 2021-05-29 at 00:27:34

      AL.009 indicates that the position error is greater than P2-35. Please confirm that the servo gain is set properly, release the load, use the slow command, and troubleshoot the problem according to the above method.


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