F07451 — LR: Position monitoring has responded

When the drive reports LR: Position monitoring has responded, a positioning move has failed its arrival check: the position monitoring time (p2545) expired before the drive had reached the positioning window (p2544). The LR position monitoring therefore responds. Depending on how the drive is configured, the same condition can also be issued as an alarm (A) instead of a fault.

• The positioning window (p2544) is parameterized too small.
• The position monitoring time (p2545) is parameterized too short.
• The position loop gain (p2538) is too low.
• The position loop gain (p2538) is too high — the position control then becomes unstable and oscillates (p2538).
• The drive is mechanically locked.

1. Check the mechanics first: the drive must not be mechanically locked.
2. Check the positioning window (p2544); if it is parameterized too small, increase it.
3. Check the position monitoring time (p2545); if it is parameterized too short, extend it.
4. Check the position loop gain (p2538): increase it if it is too low, reduce it if it is too high and the drive oscillates.
5. Repeat the move and confirm that the drive now reaches the positioning window (p2544) within the position monitoring time (p2545).

• p2544 (LR positioning window / Pos_window) — the tolerated position window the drive must reach before the monitoring time expires; enlarge it here if it was parameterized too small for this code.
• p2545 (LR positioning monitoring time / t_pos_mon) — the time the drive is given to enter the positioning window; extend it here if it was parameterized too short for this code.
• p2538 (LR proportional gain / Kp) — the position loop gain; set it higher if it is too low, and lower if it is too high and causes instability/oscillation.

Resolve the cause first. The fault is then acknowledged immediately on the operator panel or in the commissioning tool, and only after acknowledgment does the drive accept a new start; while the condition is active, the drive is brought to a standstill. If the drive signals the same condition as an alarm instead, no reaction and no acknowledgment are required — the alarm clears once the condition no longer applies.