Ackn. Max. following error exceeded ({Drive})

What does 26024 mean?

The maximum permissible following error for the specified drive has been exceeded. This indicates a significant deviation between the commanded position and the actual position of the axis. While undesirable in normal operation, this monitoring function may be deactivated using `SET_TORQUE_LIMITS(..., monitor #off)` when operating in torque mode to prevent spurious errors.

• The drive has exceeded its maximum allowable following error during motion control.
• The servo motor is lagging too far behind the commanded position.
• High load, mechanical binding, or insufficient servo gains causing excessive position deviation (e.g., P1-30).

Click steps to track your progress.

1. 1

   Identify the specific drive mentioned in the error message to pinpoint the affected axis.

2. 2

   If the robot is operating in torque mode, verify that the `SET_TORQUE_LIMITS()` function is correctly configured with `monitor #off` if this monitoring is not desired.

3. 3

   In normal operation, check for mechanical obstructions, excessive load, or incorrect motion parameters that could cause large following errors.

4. 4

   Inspect the motor, gearbox, and position feedback device for the affected drive for any signs of damage or malfunction.