text: <s>[INST] E21 in Ultra 3000 I have changed an Ultra 200 1398-DDM-019 with an H-4030-P-H motor to an Ultra 3000 2098-DSD-020 with an MPL-A420P-H motor, with a 2000 ppr encoder.The configuration for the application is with step/direction mode, it receives pulses from an Bosch interface. The machine is a Bosch packaging machine.The application seems to work ok, but I received very often an E21 error message, which I cannot solve.Do you have any recommendation.Thank you [/INST] Take a look to Aid 29066 ... it seems a noise related problem... also the attached screenshot gives some indications of possible cause... Hope this helps… - fuzzy logic \\n </s>