Following error

What does 153 mean?

The angle difference between the set position and the actual position is larger than the following error limit set under parameter C0255. This can also indicate the drive cannot follow the digital frequency due to reaching its Imax limit, suggesting insufficient drive dimensioning.

• Insufficient motor torque or drive current limits (e.g., Parameter P1-54 set too low) to follow the commanded motion profile under load.
• Mechanical issues in the system, such as excessive friction, binding, worn bearings, or a loose coupling, preventing smooth movement.
• Position control loop gains (e.g., Proportional Gain C0201, Integral Gain C0202) are incorrectly tuned, leading to sluggish response or instability.
• Following error limit (Parameter C0255) is set too restrictively for the application's mechanical properties (e.g., backlash) or dynamic requirements.
• Encoder feedback issue: loose connection, damaged cable, or encoder failure resulting in inaccurate actual position data.
• Command signal integrity issue from the master controller (e.g., fieldbus communication error, analog input noise) causing erratic setpoints.

Click steps to track your progress.

1. 1

   1. Monitor the actual motor torque/current (e.g., P5-10) during operation and compare it to the drive's current limit (P1-54) and motor rated current.

2. 2

   2. Inspect the mechanical system for binding, worn bearings, excessive backlash, or a loose motor/load coupling. Manually move the load to feel for resistance.

3. 3

   3. Increase the following error limit (Parameter C0255) in small increments (e.g., 10%) and retest the motion profile to see if the fault clears.

4. 4

   4. Perform an autotune routine for the position control loop (if available, e.g., P0-03 = 2) or manually adjust P-gain (C0201) and I-gain (C0202) for optimal response.

5. 5

   5. Verify the integrity of the encoder feedback cable shielding and connections (e.g., X2 connector) for signal noise or disconnections.

6. 6

   6. Log actual position (P5-04) and commanded position (P5-05) data to identify the exact point of deviation and rate of error accumulation.