Acknowledged Max. Following Error Exceeded

What does 26024 mean?

This message indicates that the deviation between the commanded position and the actual position of a specified robot drive ('{Drive}') has exceeded the maximum permissible following error limit in the KUKA KRC4 KSS 8.3 system. This often occurs due to external mechanical resistance, insufficient torque, or incorrect motion monitoring settings, particularly in torque mode.

• An external force or mechanical obstruction is impeding the robot's movement, causing a significant deviation from the commanded path.
• The motor torque or power is insufficient to achieve the commanded motion due to an overload condition or incorrect load parameters.
• The maximum following error limit (max_lag) is set too low for the current application, especially when using SET_TORQUE_LIMITS() in torque mode.
• Mechanical wear, excessive backlash, or looseness in the drivetrain of the affected axis is leading to poor positioning accuracy.
• Regular monitoring functions are active in torque mode when they should be deactivated via SET_TORQUE_LIMITS(..., monitor #OFF).

Click steps to track your progress.

1. 1

   Inspect the robot's operating area and the specific drive ('{Drive}') for any mechanical obstructions, collisions, or binding that could restrict movement.

2. 2

   Verify that the robot's payload data and mastering values are accurately configured for the current application and match the actual load.

3. 3

   If operating in torque mode, ensure that SET_TORQUE_LIMITS(..., monitor #OFF) is correctly applied if regular monitoring functions are intended to be suppressed, or adjust the max_lag parameter.

4. 4

   Check for any signs of mechanical wear, excessive play, or damage in the gears, bearings, or other components of the affected axis.

5. 5

   Use the KUKA HMI diagnostic tools to monitor the command position, actual position, and following error of the specified drive to identify when and where the deviation occurs.