F07414 — Drive: Encoder serial number changed

F07414 reports that the serial number of the motor encoder of a synchronous motor has changed. The drive only runs this check for encoders that supply a serial number (e.g. EnDat encoders) on built-in motors (e.g. p0300 = 401) or third-party motors (p0300 = 2). The same condition can also be output as an alarm (A) or as an N message without reaction, depending on how the message is configured in the drive.

The check is tied to the adjustment of the absolute encoder with closed-loop position control: while the adjustment is starting (p2507 = 2) the serial number is accepted, and once the encoder is adjusted (p2507 = 3) it is checked for changes — if it has changed, the adjustment is reset (p2507 = 1).

• The serial number of the motor encoder of a synchronous motor has changed; the drive checks this only for encoders with a serial number (e.g. EnDat encoders) on built-in motors (e.g. p0300 = 401) or third-party motors (p0300 = 2).
• Cause 1: the encoder was replaced.
• Cause 2: a third-party, built-in or linear motor was re-commissioned.
• Cause 3: the motor with an integrated and adjusted encoder was replaced.
• Cause 4: the firmware was updated to a version that checks the encoder serial number.

1. Work out which cause applies: a replaced encoder, a re-commissioned third-party, built-in or linear motor, a replaced motor with an integrated and adjusted encoder, or a firmware update to a version that checks the encoder serial number.
2. For causes 1 and 2: acknowledge the fault and carry out an automatic adjustment using the pole position identification routine. Initiate the routine with p1990 = 1 and then check that the pole position identification routine is correctly executed. For the SERVO drive object, p1990 is activated automatically if a pole position identification technique is selected in p1980 and p0301 does not contain a motor type with an encoder adjusted in the factory.
3. Alternatively, set the adjustment via p0431 — in this case the new serial number is accepted automatically.
4. Alternatively, mechanically adjust the encoder and accept the new serial number with p0440 = 1.
5. For causes 3 and 4: accept the new serial number with p0440 = 1.
6. To hide serial number monitoring instead: set p0441 = FF and p0442 = 0, p0443 = 0, p0444 = 0, p0445 = 0 for the corresponding Encoder Data Set, and parameterize F07414 as message type N via p2118 and p2119.

• p0300 — motor type selection: the serial number check applies to built-in motors (e.g. p0300 = 401) and third-party motors (p0300 = 2).
• p2507 — LR absolute encoder adjustment status: shows where the adjustment stands — starting (p2507 = 2, serial number accepted), adjusted (p2507 = 3, serial number checked) or reset (p2507 = 1) after a change.
• p1990 — set p1990 = 1 to initiate the pole position identification routine for the automatic adjustment (causes 1 and 2).
• p1980 — PolID technique: on a SERVO drive object, p1990 is activated automatically when a technique is selected here and p0301 has no motor type with a factory-adjusted encoder.
• p0301 — motor code number selection: on a SERVO drive object, check whether it contains a motor type with an encoder adjusted in the factory, because this decides whether p1990 starts automatically.
• p0431 — angular commutation offset: setting the adjustment via p0431 automatically accepts the new serial number.
• p0440 — copy encoder serial number: set p0440 = 1 to accept the new serial number (after mechanical adjustment, or for causes 3 and 4).
• p0441 — encoder commissioning serial number part 1: set to FF, together with p0442 to p0445 = 0, to hide serial number monitoring.
• p0442 — encoder commissioning serial number part 2: set to 0 when hiding serial number monitoring.
• p0443 — encoder commissioning serial number part 3: set to 0 when hiding serial number monitoring.
• p0444 — encoder commissioning serial number part 4: set to 0 when hiding serial number monitoring.
• p0445 — encoder commissioning serial number part 5: set to 0 when hiding serial number monitoring.
• p2118 — change message type message number: enter the number F07414 here when re-parameterizing the message.
• p2119 — change message type type: set message type N here for the message number entered in p2118.

For causes 1 and 2 the remedy begins with acknowledging the fault, after which the pole position identification routine is initiated with p1990 = 1; for causes 3 and 4 the new serial number is accepted with p0440 = 1. When the condition is configured as an alarm (A) or as an N message, the manual specifies no reaction and no acknowledgement for it.