AL099 alarm in delta ASDA-A2 servo drive indicates DSP firmware upgrade. This means the EEPROM has not been reset after DSP firmware is upgraded. To clear the alarm, set P2-08 to 30 first and then set it to 28. Next, cycle power on the servo drive.

1. Check if the firmware is upgraded.
2. Firstly set P2-08 to 30. Then set P2-08 to 28, the alarm will be cleared when cycling power on.