22020

Check Following Error Parameters

Navigate to HMI > Commissioning > Machine Data and verify MD32200 FOLLOWING_ERR_WINDOW and MD32210 FOLLOWING_ERR_TIME settings for the affected axis.

Typical values are 0.1-0.5mm for linear axes and 0.5-2.0 degrees for rotary axes

Monitor Real-time Following Error

Use HMI > Diagnostics > Service > Axis Diagnosis to observe the current following error value in real-time during axis movement.

Do not increase following error limits without identifying root cause

Analyze Servo Trace

Activate servo trace via HMI > Diagnostics > Servo Trace to capture position command vs actual position data during the alarm condition.

Look for sudden spikes or gradual drift in the following error trace

Perform Manual Axis Movement

Switch to JOG mode via HMI > Machine > JOG and manually move the affected axis at low feedrate to detect mechanical resistance or binding.

Ensure all safety interlocks are active before manual movement

Check Motor Current Consumption

Monitor drive current via HMI > Diagnostics > Drive > Current Values during movement to identify excessive load conditions.

Compare current values with historical data or similar axes for baseline comparison

Inspect Mechanical Components

Physically inspect ballscrews, linear guides, couplings, and gearboxes for wear, contamination, or damage that could cause binding.

Lock out machine power before mechanical inspection

Verify Servo Parameters

Check MD32000 VELO_FFW_ON, MD32010 POSCTRL_GAIN, and MD32020 EQUIV_SPEEDCTRL_TIME in HMI > Commissioning > Machine Data for proper servo tuning values.

Use Siemens STARTER software for advanced servo parameter optimization

Run Servo Optimization

Execute automatic servo optimization via HMI > Commissioning > Servo > Optimization to recalibrate control loop parameters.

Backup existing parameters before running optimization

Validate Drive Communication

Check PROFIBUS/PROFINET communication status in HMI > Diagnostics > Drive Communication for any cyclic data errors or timeouts.

Monitor r0899 (communication error counter) in the drive for communication issues

Check Reference Point Status

Verify reference point validity via HMI > Machine > Reference Point and check if axis requires re-referencing after the alarm.

Look for flashing axis indicators which indicate lost reference

Validate Encoder Signals

Monitor encoder feedback signals in HMI > Diagnostics > Drive > Encoder to check for signal quality issues or dropouts.

Encoder cable damage can cause intermittent position errors

Perform Reference Point Approach

Execute reference point approach sequence via HMI > Machine > Reference Point > Start to re-establish accurate position reference.

Use G74 (reference point approach) in MDI mode if automatic referencing fails

Review Program Feedrates

Analyze the active NC program for excessive F-word values that exceed machine axis limits defined in MD32300 and MD32310.

Use program simulation to identify problematic motion blocks before execution

Check Axis Velocity Limits

Verify MD32300 MAX_AX_VELO and MD32310 MAX_AX_ACCEL settings match actual machine mechanical capabilities in HMI > Commissioning > Machine Data.

Do not exceed manufacturer specifications for axis velocity and acceleration

Implement Feedrate Override

Use feedrate override function or modify program with more conservative feedrates to test if alarm clears with reduced motion demands.

Start with 50% feedrate override and gradually increase to find optimal values