F07963 — Drive: Friction characteristic record interrupted

F07963 aborts the record of the friction characteristic: the drive found that the conditions to record the friction characteristic are not fulfilled. G120, G130 and G150 title the message «Drive: Friction characteristic record interrupted», the S120/S150 manual titles it «Drive: Record friction characteristic canceled» — the condition and its handling are identical. The fault value in r0949, interpreted decimal, states exactly which condition failed; work through the decoding and the checks below.

• The conditions to record the friction characteristic are not fulfilled. Which condition failed is stated by the fault value (r0949, interpret decimal) — see the decoding below.

1. Read the fault value in r0949 (decimal) and fulfill the corresponding condition to record the friction characteristic.
2. 0046 — establish the missing enable signals.
3. 1082, 1084, 1087 — select the highest speed value to be approached (p3829) less than or equal to the maximum speed (p1082, r1084, r1087), and re-calculate the speed points along the friction characteristic (p0340 = 5).
4. 1110 — select the friction characteristic record, positive direction (p3845).
5. 1111 — select the friction characteristic record, negative direction (p3845).
6. 1198 — enable the permitted direction (p1110, p1111, r1198).
7. 1300 — set the control mode to closed-loop speed control (p1300 = 20, 21).
8. 1755 — for encoderless closed-loop speed control (p1300 = 20), select the lowest speed value to be approached (p3820) greater than the changeover speed of open-loop controlled operation (p1755), and re-calculate the speed points (p0340 = 5).
9. 1910 — exit the motor data identification routine (p1910).
10. 1960 — exit the speed controller optimization routine (p1960).
11. 3820 ... 3829 — a speed p382x cannot be approached: check the load at speed p382x, check the speed signal (r0063) for oscillation at speed p382x, and check the settings of the speed controller if applicable.
12. 3840 — make the friction characteristic error-free (p3820 ... p3829, p3830 ... p3839, p3840).
13. 3845 — activate the friction characteristic record (p3845).

• 0046: Missing enable signals (r0046).
• 1082: The highest speed value to be approached (p3829) is greater than the maximum speed (p1082).
• 1084: The highest speed value to be approached (p3829) is greater than the maximum speed (r1084, p1083, p1085).
• 1087: The highest speed value to be approached (p3829) is greater than the maximum speed (r1087, p1086, p1088).
• 1110: Friction characteristic record, negative direction selected (p3845) and negative direction inhibited (p1110).
• 1111: Friction characteristic record, positive direction selected (p3845) and positive direction inhibited (p1111).
• 1198: Friction characteristic record selected (p3845 > 0) and negative (p1110) and positive directions (p1111) inhibited (r1198).
• 1300: The control mode (p1300) has not been set to closed-loop speed control.
• 1755: For encoderless closed-loop control (p1300 = 20), the lowest speed value to be approached (p3820) is less than or equal to the changeover speed, open-loop controlled operation (p1755).
• 1910: Motor data identification activated.
• 1960: Speed controller optimization activated.
• 3820 ... 3829: speed (p382x) cannot be approached.
• 3840: Friction characteristic incorrect.
• 3845: Friction characteristic record de-selected.

• r0949 — fault value of this message; read it decimal to identify the condition that interrupted the record.
• p3845 — friction characteristic record activation; selects the record and its direction, and must be active when the record is started (fault values 1110, 1111, 1198, 3845).
• p3829 — highest speed value to be approached; must be selected less than or equal to the maximum speed (fault values 1082, 1084, 1087).
• p1082 — maximum speed; the limit that p3829 must not exceed.
• r1084, p1083, p1085 — effective positive speed limit and its sources; compare with p3829 for fault value 1084.
• r1087, p1086, p1088 — effective negative speed limit and its sources; compare with p3829 for fault value 1087.
• p1110 / p1111 — inhibit negative / positive direction; must not block the direction selected for the record (fault values 1110, 1111, 1198).
• p1300 — control mode; the record requires closed-loop speed control (p1300 = 20, 21).
• p3820 — lowest speed value to be approached; with encoderless control it must lie above the changeover speed (fault value 1755).
• p1755 — motor model changeover speed, encoderless operation; lower limit for p3820 when p1300 = 20.
• p0340 = 5 — automatic calculation; re-calculates the speed points along the friction characteristic after p3829 or p3820 was changed.
• p1910 — motor data identification selection; exit this routine before recording.
• p1960 — rotating measurement selection; exit the speed controller optimization before recording.
• r0063 — speed actual value; check it for oscillation at the speed p382x that cannot be approached.
• p3830 ... p3839 — friction characteristic values M0 ... M9; make them error-free together with the speed points when the friction characteristic is incorrect (fault value 3840).

Once the condition reported by the fault value has been removed, acknowledge the fault — the manuals specify immediate acknowledgement — and start the friction characteristic record again. If the conditions are still not fulfilled, the drive raises F07963 again with the same fault value.