A07329 — Drive: kT estimator, kT(iq) characteristic or voltage compensation does not function

A07329 reports that a function of the function module 'extended torque control' (r0108.1) has been activated although the (complete) function is not available in the drive. The functions concerned are the kT estimator, the kT(iq) characteristic and the compensation of the voltage emulation error in the drive converter. The alarm value in r2124 (interpret decimal) identifies which of five situations applies; for alarm values 1 ... 3 the kT estimator runs without a functioning voltage-error compensation, which means that the accuracy is severely restricted. Depending on the drive configuration, the same condition can also be output as a message without reaction (N).

• A function of the function module 'extended torque control' (r0108.1) is activated although the (complete) function is not available.
• The kT estimator is active (p1780.3 = 1) without a functioning compensation of the voltage emulation error in the drive converter: the voltage emulation error 'final value' (p1952) or 'current offset' (p1953) is 0, or the compensation is disabled (p1780.8 = 0). The accuracy is then severely restricted.
• The kT estimator, the kT(iq) characteristic or the compensation of the voltage emulation error was switched on without activating the function module 'extended torque control' itself — when the module is activated, r0108.1 = 1 must apply.
• The kT(iq) characteristic is activated (p1780.9 = 1) but its kT characteristic value kT1 is 0 (p0645), so the function is not active.

1. Read the alarm value in r2124 (interpret decimal) to identify which situation the drive is reporting.
2. Alarm value 1 or 2: carry out an identification of the voltage emulation error in the drive converter (p1909.14 = 1, p1910 = 1) and set the parameters that compensate the voltage emulation error (p1952, p1953).
3. Alarm value 3: enable the compensation of the voltage emulation error in the drive converter (p1780.8 = 1).
4. Alarm value 4: activate the function module 'extended torque control' (r0108.1 = 1), or deactivate the corresponding functions (p1780.3 = 0, p1780.8 = 0, p1780.9 = 0).
5. Alarm value 5: determine the parameters of the kT characteristic (p0645 ... p0648) using the rotating measurement (p1959.6, p1960), or enter them directly if known; if necessary, deactivate the kT characteristic (p1780.9 = 0).

• The drive writes the alarm value into r2124; interpret the value as a decimal number.
• 1 ... 3: the kT estimator is active (p1780.3 = 1) without a functioning compensation of the voltage emulation error in the drive converter — the accuracy is severely restricted.
• 1: the drive converter voltage emulation error 'final value' is 0 (p1952).
• 2: the drive converter voltage emulation error 'current offset' is 0 (p1953).
• 3: the compensation of the voltage emulation error is disabled (p1780.8 = 0).
• 4: the kT estimator (p1780.3 = 1), the kT(iq) characteristic (p1780.9 = 1) or the compensation of the voltage emulation error (p1780.8 = 1) was activated without activating the function module 'extended torque control' (when the function module is activated, r0108.1 = 1 must apply).
• 5: the kT(iq) characteristic has been activated (p1780.9 = 1); however, the kT characteristic value kT1 is 0 (p0645) and the function is not active.

• r2124 (alarm value) — read it as a decimal number to see which of the five situations triggered the message.
• r0108 (drive objects function module) — bit 1 shows whether 'extended torque control' is activated; r0108.1 = 1 is required when the functions are used.
• p1780 (motor model adaptation configuration) — bits 3, 8 and 9 switch the kT estimator, the voltage-error compensation and the kT(iq) characteristic on or off when correcting this message.
• p1952 (voltage emulation error final value) — set it to compensate the voltage emulation error in the drive converter for alarm values 1 and 2.
• p1953 (voltage emulation error current offset) — set it together with p1952 for alarm values 1 and 2.
• p1909 (data identification without enabling activation) — set bit 14 = 1 to start the identification of the voltage emulation error for alarm values 1 and 2.
• p1910 (valve offset calibration standstill activation) — set to 1 together with p1909.14 to carry out the identification of the voltage emulation error.
• p0645 (motor kT characteristic kT1) — it is 0 when alarm value 5 is issued.
• p0645 ... p0648 (motor kT characteristic parameters) — determine them with the rotating measurement or enter them if known for alarm value 5.
• p1959 (data identification moving configuration) — bit 6 = 1 selects the rotating measurement used to determine the kT characteristic.
• p1960 (moving measurement selection) — used together with p1959.6 to run the rotating measurement for the kT characteristic.

This message does not have to be acknowledged. It signals a parameterization condition; correcting the setting named by the alarm value in r2124 as described above is the complete remedy.