Fagor alarm E156: Excessive following error (axis lag)

What it means

The PV189 FollowingError exceeded the window permitted by PP159 MonitoringWindow, i.e. the actual axis position lags the command too far. Fagor directs the user to review every factor influencing following error: acceleration ramps, gain tuning, commanded feed versus drive capability, mechanics binding and feedback quality.

Likely causes

• axis mechanically stiff (gibs, ballscrew, way lube starved) or crashed
• velocity loop gains misadjusted after component replacement
• programmed feed/acceleration beyond what the drive can follow
• partial feedback signal loss making actual position jump

Replacement parts

We supply the following units for this alarm — tested, warranty-backed:

• Motor feedback cable (connector X4)

  cable · Check if others ruled out

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