F321, Excessive position deviation

The servo drive has detected a following error.

Diagnostic Code (Hex.)	Diagnostic Code (Dez.)
F321	62241

Class	Type
Error	Runtime error

Standard Reaction	Reset
Nc handling	Execute Reset-Command (S-0-0099).

Possible Causes	Solutions
The following error has exceeded the maximum value of IDN S-0-0159.	Analyze your application and increase the maximum value in the IDN S-0-0159, if appropriate.
The set value dynamic characteristics are set too "hard".	Analyze your application and check whether it is theoretically possible to achieve the specified dynamics.
An error has occurred in the set value generation.	Analyze the cause (NC, internal set value generation, etc.). If no solution can be found, contact support.
The current limit has been reached. For more informations look at the parameter S-0-0136, S-0-0137, S-0-0109, S-0-0111 and the motor characteristic.	Analyze the motor parametrization or your calculation and check whether the motor can theoretically follow the set values.
The mechanical system is too sluggish.	Analyze your application and try make the mechanical system smoother.
The speed limit has been reached. For more informations look at the parameter S-0-0091, S-0-0113 and the motor characteristics.	Analyze the motor parametrization or your calculation and check the maximum motor speed value used in the calculation.

Further Information
AX5000_IDN-Description: "S-0-0091", "S-0-0109", "S-0-0111", "S-0-0113", "S-0-0136", "S-0-0137" and "S-0-0159".