Z axis driver Err4 alarm

The Err4 alarm of Z axis(DA98A-15-130SJT-M060D) appeared after few hours machining, when Z axis stop it looks a little buffering.

This should be gain parameter issue, change the Z axis driver and CNC controller parameters as follows, the problem solved.

DA98A-15 Parameters:

PA5:45

PA6: 1000

PA7: 80

PA9: 120

PA22: 110

PA29: 2300

PA33: 210

PA34: 218

PA35: -218

(From http://www.CNCmakers.com)

And the CNC controller GSK980TD change parameter as follows:

No.24: 50

No.25: 50