Following error

What does P03 mean?

The angle difference between the set and actual position is larger than the following error limit set under C0255. This indicates that the drive cannot accurately follow the commanded position or speed, possibly due to insufficient torque or excessive load.

• Insufficient motor torque or drive current limits (e.g., C0203, P1-54) preventing the motor from keeping up with the commanded position or speed profile.
• Excessive mechanical load (e.g., jammed bearings, increased friction, overloaded gearbox) on the motor, exceeding its capabilities.
• Incorrect tuning of the position controller (e.g., C0250, C0251, C0252, C0253 - P, I, D gains) leading to oscillatory or sluggish response.
• Faulty encoder feedback (e.g., loose wiring, dirty encoder disk, damaged sensor) causing inaccurate actual position reporting.
• Commanded trajectory (e.g., velocity, acceleration) exceeding the physical limits of the motor or mechanical system.
• Following error limit (C0255) set too low for the application's dynamic requirements or system backlash.

Click steps to track your progress.

1. 1

   Monitor motor current (e.g., C0004) during operation; if consistently at or near the current limit (C0203), consider increasing drive current limits (P1-54) or verifying motor sizing.

2. 2

   Manually rotate the load with power off; if excessive resistance or binding is felt, lubricate or repair mechanical components (e.g., bearings, gears).

3. 3

   Adjust the position loop gains (C0250 for Proportional, C0251 for Integral) starting with small increments, observing the motor's response via diagnostic software.

4. 4

   Inspect the encoder feedback cable for proper shielding (connected to PE) and continuity of A/B/Z signals; verify encoder pulses per revolution matches C0210.

5. 5

   Increase the following error limit parameter C0255 by 10-20% and re-evaluate system performance, ensuring it remains within acceptable operational tolerance.

6. 6

   Reduce the commanded acceleration and deceleration ramps (e.g., C0256, C0257) or maximum velocity (C0258) to ensure the motor can physically follow the profile.