What the FollowErr alarm means

The actual axis position drifted beyond the allowed window from the commanded position; the controller stops the robot to protect accuracy and mechanics. This is one of the faults our repair team handles on Staubli CS8 / CS9 (VAL3) systems — the cause is usually identifiable within the first on-site inspection.

Most common causes

  • Mechanical interference or collision
  • Payload/inertia settings wrong for the mounted tool
  • Degraded reducer or worn brake slipping
  • Drive tuning degraded or encoder noise
Field note: the first item on this list is what we find most often on real machines. Check it before you go deeper.

Step-by-step field fix

  1. Remove any physical interference
  2. Verify the tool weight/inertia parameters
  3. Check axis backdrivability and listen for reducer noise
  4. Reduce speed on the failing move and compare behavior
  5. If following error persists with no mechanical cause, have the drive tuning and encoder circuit checked
Safety first: never bypass safety circuits or force contactors closed. If the alarm involves E-stop chains, brakes or drive power, and you are not a trained robot technician, contact a professional — wrong moves here can cost you a robot or an injury.

Still stuck? Get an engineer on the phone — right now

Tell us the alarm code, the robot model and what was happening when the alarm came up. Our engineers run these diagnostics every day, and remote diagnosis by phone or video call is free.

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Hotline: +86-20-39029800 · WhatsApp: +86-188-1886-2860

Related Motion & Path alarms

3453 — Deviation Between Safe and Non-Safe Encoders (DSI) SEG-4 — Amplifier Fault — DF Contactor Open (7-Segment Code 4) NoDriveCfg — Internal Error DRIVE NoDriveConfiguration (All Axes) ArmPowerRefused — Arm Power Enable Request Refused Fieldbus33 — Internal Error on Fieldbus Board — Status 33 EStopChain — Emergency Stop Circuit Open — Power Cannot Enable
Other brands: we also keep field-fix libraries for Epson · Nachi · Omron and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the Staubli FollowErr alarm mean?

The actual axis position drifted beyond the allowed window from the commanded position; the controller stops the robot to protect accuracy and mechanics. In field practice it belongs to the motion & path family of faults.

QCan I clear a Staubli FollowErr alarm myself?

Sometimes. Work through the step-by-step checks on this page — the first listed cause is what we find most often in the field. If the alarm returns after two attempts, or the fault involves power, brakes or safety circuits, stop and call a qualified robot service engineer.

QHow fast can a Henghuan engineer help?

On-site response in the Pearl River Delta within 30 minutes to 3 hours, across mainland China in 1-3 business days, and worldwide within 2-5 business days. Remote diagnosis by phone/WhatsApp/video is available immediately.

Written by the Henghuan Robotics repair team from field service experience. Alarm descriptions are our own summary for troubleshooting reference and may vary by controller and software version — when in doubt, check your Staubli documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by Staubli.