A07354 — Drive: Cogging torque compensation not possible

A07354 appears when cogging torque compensation is selected although the drive cannot, or can only partly, support the function with the connected encoder, the motor and the set control configuration. The drive keeps running; the alarm names the drive data set concerned, and the alarm value in r2124 tells which of five possible situations applies.

• Fault cause 1: the encoder evaluation in use cannot handle the function.
• Fault cause 2: the connected encoder delivers no absolute information.
• Fault cause 3: the motor is configured without an encoder (p0187 = 99).
• Fault cause 4: learning (p5251) was activated although closed-loop control runs without an encoder — p1300 = 20, a p1404 changeover speed below 12 rpm or 12 m/min, or p1317 = 1.
• Fault cause 5: the internal table is in use while the period factor p5253 has not been set to 1.

1. Read the alarm value in r2124 as a hexadecimal number: the upper digits give the fault cause, the lower digits the drive data set.
2. If the function is not needed, deselect cogging torque compensation (p5250 = 0); the manual lists this as the first remedy.
3. Cause 1: use an absolute encoder, or an encoder evaluation that supports the function (r0459.13 = 1). If required, upgrade the firmware — version 04.50.30.01 or higher is required.
4. Cause 2: use an encoder with absolute information — absolute track, unique zero mark, or a resolver with one pole pair. The function cannot be tested until the encoder has been reset after learning (encoder fault, parking, POWER ON); continuous use is not recommended.
5. Cause 3: select cogging torque compensation only for operation with the motor encoder.
6. Cause 4: activate learning only for operation with an encoder; the relevant settings are p1300, p1404 and p1317.
7. Cause 5: set the period p5253 = 1 and activate the external table and learning (p5250.0 = 1, p5251).

• The drive stores the alarm value in r2124, to be interpreted hexadecimal as yyyyxx: yyyy is the fault cause (values 1 to 5, as listed under causes) and xx is the drive data set.
• The message value carries the same pair as placeholders: %1 is the fault cause, %2 is the drive data set.

• r2124 (alarm value): read it hexadecimal for this alarm — yyyy gives the fault cause, xx the drive data set.
• p5250 (compensation configuration): 0 deselects the function; bit 0 = 1 activates the external table in the cause-5 remedy.
• p5251 (activate learn cogging torque compensation): switch learning on only for encoder operation; it also belongs to the cause-5 fix.
• p5253 (periodicity factor): must be set to 1 while the internal table is active.
• p0187 (encoder 1 encoder data set number): the value 99 means the motor has no encoder — the trigger of cause 3.
• p1300 (operating mode): mode 20 is one of the encoderless configurations in which learning must not be activated.
• p1404 (encoderless operation changeover speed): a setting below 12 rpm or 12 m/min also counts as encoderless operation for learning.
• p1317 (U/f control activation): with p1317 = 1 the operation counts as without encoder, so learning is not permitted.
• r0459 (extended encoder evaluation properties): bit 13 = 1 confirms that the encoder evaluation supports the function.

No acknowledgement is required. The alarm goes once its cause is removed — for example after cogging torque compensation has been deselected with p5250 = 0 or the conflicting encoder or mode setting has been corrected.