AL21 - Deviation Counter Over (FULL):
The position error pulses in the deviation counter have exceeded the specified detection level.

Possible causes:

    [1] The load may be too heavy compared to the motor power.
    [2] The load inertia may be high, and the acceleration/deceleration may be sharp.
    [3] Parameter TP02 (target loop gain) may be set too high.
    [4] The current limit may be set too low.

Actions to take:

    Check if the load is appropriate for the motor power.
    Review the acceleration/deceleration settings.
    Check and, if necessary, reduce parameter TP02.
    Try increasing the current limit.

AL22 - Resolver ABS Phase Error (ABSE):
The ABS sensor has caused a phase shift.

Actions to take:

    The ABS sensor phase needs to be adjusted, or the sensor needs to be replaced. Contact the manufacturer.

AL23 - Resolver ABS Breakage (ACN):
The ABS cable has been disconnected, or the +10, CTD signal cable is faulty.

Actions to take:

    If the ABS cable is broken, reconnect it and perform the absolute setting again after moving the machine.

AL24 - ABS Battery Alarm (BAL):
The ABS battery voltage has dropped to 3.2 V or less.

Actions to take:

    Replace the ABS battery as soon as possible. The reference point will not be saved in memory. Perform the absolute setting.

AL25 - Option Alarm (OPALM):
An alarm has occurred in the option board.

Actions to take:

    Contact the manufacturer.

AL26 - Parameter Setting Error (CERR):
Parameter UP01 (control mode) or UP02 (motor selection) has not been set or has been set incorrectly.

Actions to take:

    Set the UP01 and UP02 parameters correctly. Then turn off the device and make sure the display is off. Turn it back on afterward.

AL27 - Resolver ABS Error (AEERR):
The CHA and CHB signals were forced ON when the power was turned ON but may have turned off due to a cable disconnection.

Possible causes:

    [1] The ABS cable may be disconnected.
    [2] There may be a contact failure in the connector.

Actions to take:

    Check the CTD, CHA, and CHB signals to ensure they are properly connected.

AL28 - Link Error (LINKERR):
There has been a communication error with each axis.

Actions to take:

    Check the communication status and review the cables or settings for any issues.

AL29 - Command Value Over (CONOV):
The command value has exceeded ±2³¹ pulses.

Actions to take:

    Check the programming resolution, the number of pulses per resolution, and the resolution settings.

AL30 - Present Value Over (ACT.OV):
The present value has exceeded ±2³¹ pulses.

Actions to take:

    Check the programming resolution, the number of pulses per resolution, and the resolution settings.

AL32 - Home Point No-Memory Error (MZE):
The home point has not been saved in memory.

Possible causes:

    [1] Resolver ABS: The ABS setting may not have been executed for the ABS motor. This alarm typically occurs alongside AL06, AL19, AL22, AL23, or AL27.
    [2] Encoder: This alarm typically occurs with AL42, AL43, or AL45.

Actions to take:

    Ensure that the ABS or encoder settings have been set correctly.

AL33 - ABS Home Point Invalid (CLD):
If this alarm has occurred with AL06, AL19, AL22, AL23, or AL27, perform the ABS setting again.

Actions to take:

    When the ABS motor is selected and alarm AL32 occurs, perform the ABS setting with the following steps:
        Turn ON the power.
        When AL23 and AL32 occur, reset the alarms.
        Turn the power OFF and then ON again.
        When AL32 appears by itself, reset the alarm.
        Perform the ABS setting.