text: <s>[INST] Ultra 3000i Digital Servo Drive Error Hello All Forum Member, I had problem on Ultra 3000i Digital Servo Drive. Always Error E19 appears.I increased the Following Error Limit & Error Time but still not solved.I not sure what mean Increase the feedfoward gain & Check position loop tuning, andwhere can i look on the parameter setting. Error Code : E19 Problem or Symptom : Excess Position Error Possible Causes (s) : Position error limit was exceeded Action / Solution : • Increase the feedforward gain • Increase following error limit or time • Check position loop tuning. Thanks:manwink: [/INST] Have a look to the following Technotes: Aid 47229Aid 51230 Hope this helps... :smileyhappy: - fuzzy logic \\n </s>