AL024 alarm in delta ASDA-A2 servo drive indicates Encoder initial magnetic field error. This means the initial magnetic field of the encoder is in error. Signal, U, V, W of the encoder magnetic field is in error.

1. Check if the servo motor is properly grounded.
2. Check if the encoder cable separates from the power supply or the high-current circuit to avoid the interference.
3. Check if the shielding cables are used for the encoder.