A07356 — Drive: Cogging torque compensation motor or encoder serial number different

A07356 reports a mismatch around cogging torque compensation with an external table: the function is activated with p5250.0 = 1 and uses the tables p5260 and p5261, but the motor or encoder serial number of the drive data sets does not match the one learned table — or the table has not been learned at all. Depending on the drive configuration, the same condition can also be output without a reaction (N).

Cogging torque compensation via the external table (p5260, p5261) is activated with p5250.0 = 1, but the compensation is not active or is parameterized incorrectly. Four situations are distinguished:

• The motor or the encoder was replaced, or the external table was not learned.
• The compensation was activated for more than one MDS and the serial numbers do not match — there is only one external table.
• The compensation was activated for more than one MDS and p0826 indicates that different motors are involved — again there is only one external table.
• The compensation was activated for data sets with different encoder data sets (EDS) — compensation with an external table only supports one encoder.

1. Read the alarm value r2124 in hexadecimal: its format is yyyyxx, where yyyy gives the fault cause (1 to 4) and xx the affected drive data set.
2. Fault cause 1: relearn the cogging torque table via p5251.
3. Fault cause 2: activate cogging torque compensation with the external table only for MDS that belong to the same motor (p5250.0).
4. Fault cause 3: likewise restrict the activation to MDS with the same motor (p5250.0); for the same motor, set p0826 to the same value.
5. Fault cause 4: activate the compensation only for data sets with the same encoder (p5250.0, p0187) — the external table supports only one encoder.

• The message value contains the fault cause and the drive data set.
• The alarm value r2124, interpreted in hexadecimal, has the format yyyyxx: yyyy = fault cause, xx = drive data set.
• yyyy = 1: motor or encoder were replaced, or external table was not learned.
• yyyy = 2: compensation activated for more than one MDS and the serial numbers do not match; there is only one external table.
• yyyy = 3: compensation activated for more than one MDS and p0826 indicates that different motors are involved; there is only one external table.
• yyyy = 4: compensation activated for data sets with different EDS; only one encoder is supported.

• r2124 — alarm value: read it in hexadecimal to identify the fault cause (yyyy) and the drive data set (xx) this message refers to.
• p5250 — compensation configuration: p5250.0 = 1 activates cogging torque compensation via the external table; keep it set only for data sets that share the same motor and encoder.
• p5251 — activate learn cogging torque compensation: starts the learning of the table; the remedy for fault cause 1 is to relearn with it.
• p5260 — cogging torque compensation table, the external table this message is about.
• p5261 — cogging torque compensation table for the negative direction.
• p0826 — motor changeover motor number: set it to the same value where the same motor is actually used (fault cause 3).
• p0187 — encoder data set (EDS) number of encoder 1: the compensation may only be activated for data sets with the same encoder (fault cause 4).

This alarm requires no acknowledgement, and the drive takes no action in response to it. Correct the parameterization as described above; once none of the four causes applies any more — for example after the table has been relearned with p5251 — the basis for the alarm is gone.