Cause : Excessive Deviation of Position Command comes when the deviation of position command exceeds the allowable setting value. 

AL009 alarm in delta ASDA-A2 servo drive indicates Excessive Deviation of Position Command. This means the maximum position deviation is set too low.

1. Check the setting value of parameter P2-35 (The warning condition of excessive position deviation).
2. Check if the setting value is appropriate.
3. Check the torque limit value.
4. Check the external load.