A07092 — Drive: moment of inertia estimator still not ready

A07092 is the alarm Drive: moment of inertia estimator still not ready. It appears while the drive's moment of inertia estimator is still working: the estimator has not yet determined any valid values, and therefore the acceleration cannot be calculated. The alarm is described for the G120, G130, G150, S120 and S150. The estimator counts as stabilized once the frictional values (p1563, p1564) and the moment of inertia value (p1493) have been determined and the status signal r1407.26 is set to 1. No acknowledgment is required — the alarm withdraws itself once the estimator has stabilized.

• The moment of inertia estimator has still not determined any valid values, so the acceleration cannot be calculated — the estimator is simply not yet stabilized.
• The response of the moment of inertia estimator is influenced by the parameters p1560, p1561 and p1562.

1. Traverse the axis until the moment of inertia estimator has stabilized.
2. Use the status signal r1407.26 to see when this point is reached: it equals 1 once the frictional values (p1563, p1564) and the moment of inertia value (p1493) have been determined.
3. After stabilization the alarm withdraws itself, so no reset is needed. For the G120 the remedy is worded slightly differently: Repeat the operation when the moment of inertia estimator is ready (r1407.26 = 1).

• p1560 — moment of inertia estimator accelerating force threshold value (J_est F thr); named by the manual as one of the parameters that influence the response of the estimator.
• p1561 — inertia estimator change time high inertia mass (J_est t_chg M); likewise influences the response of the estimator.
• p1562 — moment of inertia estimator change time load (J_est t load); likewise influences the response of the estimator.
• p1563 — CO: moment of inertia estimator load force positive direction (J_est F pos); this frictional value must be determined before the estimator counts as stabilized.
• p1564 — CO: moment of inertia estimator load force negative direction (J_est F neg); this frictional value must be determined before the estimator counts as stabilized.

No acknowledgment is needed. The alarm is withdrawn automatically as soon as the moment of inertia estimator has stabilized, i.e. once the frictional values (p1563, p1564) and the moment of inertia value (p1493) have been determined and r1407.26 = 1. Until then the axis has to be traversed so that the estimator can determine its values.