Cause : PG slip error comes when the drive is operating in PG mode (using an encoder for speed and position control) and detects a discrepancy between the actual motor speed and the speed estimated by the encoder observer.

The PGF4 fault in delta drive indicates a PG (pulse generator) slip error. This error signifies a discrepancy between the speed commanded by the drive and the actual speed of the motor. The PG, also known as an encoder, is a sensor that provides feedback on the motor's speed and position.

1. Reset ASR parameters.
2. Set correct accel./decel time.
3. Reset encoder parameters.