F07969 — Drive: Incorrect pole position identification

F07969 ("Drive: Incorrect pole position identification") is raised when a fault occurs during the pole position identification routine — the motor measurement run during commissioning with the technique selected in p1980. The drive stores a decimal fault value in r0949, which is also the message value, and that value names the stage or check that aborted. On the S120, S150, G130 and G150 the manual additionally lists fault value 4 (encoder speed signal), which the G120 and G120XA descriptions do not contain.

• The routine failed; the fault value in r0949 distinguishes the individual situations:
• the current controller reached its limit (value 1);
• the motor shaft is locked (value 2), or identification was requested while the shaft was rotating with the "flying restart" function activated (value 20);
• in stage 1 or stage 2 the ratio between the measured current and the zero current was too low (values 10, 11);
• in stage 1 or stage 2 the maximum current was exceeded (values 12, 13);
• the evaluated signal was too weak — current difference to determine the +d axis too low, second or first harmonic too low, i.e. the motor is not sufficiently anisotropic or the saturation is not sufficient (values 14, 15, 18);
• the drive converter is too small for the measuring technique (value 16), or the technique aborted due to pulse inhibit (value 17);
• on the S120, S150, G130 and G150: the encoder speed signal is not plausible (value 4).

1. Fault value 1: check that the motor is correctly connected and that the motor data have been entered correctly; if both are in order, replace the Motor Module involved (S120, S150, G130, G150) or the power unit involved (G120, G120XA).
2. Fault value 2: open the motor holding brake (p1215 = 2) and bring the motor into a no-load condition — the brake step is named in the S120, S150, G130 and G150 description; G120 and G120XA only require the no-load condition.
3. Fault value 4 (S120, S150, G130, G150 only): check the encoder pulse number (p0408) and the gearbox ratio (p0432, p0433), and check that the motor pole pair number (p0314) is correct.
4. Fault value 10: with p1980 = 4 increase p0325, with p1980 = 1 increase p0329; check the motor connection and, if necessary, replace the Motor Module or power unit involved.
5. Fault value 11: increase p0329, check the motor connection and, if necessary, replace the Motor Module or power unit involved.
6. Fault value 12: with p1980 = 4 reduce p0325, with p1980 = 1 reduce p0329 — on the S120, S150, G130 and G150 down to p0305 as the minimum, and if p0329 already equals p0305, reduce p0356 and p0357; check that the motor data have been entered correctly.
7. Fault value 13: reduce p0329 and check the entered motor data.
8. Fault value 14: increase p0329; on the S120, S150, G130 and G150 the motor is not sufficiently anisotropic, so change the technique (p1980 = 1, 10).
9. Fault value 15: increase p0325; the motor is not sufficiently anisotropic, change the technique (p1980 = 1, 10).
10. Fault value 16: the drive converter is too small for the technique — deactivate it via p1982 (S120, S150, G130, G150) or change the technique via p1980 (G120, G120XA).
11. Fault value 17: repeat the technique; the S120, S150, G130 and G150 description alternatively refers to the remedy for fault value 12.
12. Fault value 18: increase p0329 (the G120 description adds: if required, first set p0323); the saturation is not sufficient, so change the technique (p1980 = 10).
13. Fault value 20: before repeating the routine, ensure that the motor shaft is absolutely stationary (zero speed).

• 1: Current controller limited
• 2: Motor shaft locked.
• 4: Encoder speed signal not plausible. (S120, S150, G130, G150 only)
• 10: Stage 1: The ratio between the measured current and zero current is too low.
• 11: Stage 2: The ratio between the measured current and zero current is too low.
• 12: Stage 1: The maximum current was exceeded.
• 13: Stage 2: The maximum current was exceeded.
• 14: Current difference to determine the +d axis too low.
• 15: Second harmonic too low.
• 16: Drive converter too small for the measuring technique.
• 17: Abort due to pulse inhibit.
• 18: First harmonic too low.
• 20: Pole position identification requested with the motor shaft rotating and activated "flying restart" function.

• r0949 — read the decimal fault value here; it selects the remedy for this fault.
• p1980 — PolID technique; the remedies differ between techniques 1, 4 and 10.
• p0325 — PolID current, 1st phase; increase it (values 10, 15) or reduce it (value 12) when p1980 = 4.
• p0329 — PolID current; increase it (values 10, 11, 14, 18) or reduce it (values 12, 13) as the fault value directs.
• p0305 — rated motor current; the minimum for reducing p0329 at value 12 (S120, S150, G130, G150).
• p0356 / p0357 — stator leakage inductance and stator inductance d axis; reduce both at value 12 when p0329 already equals p0305 (S120, S150, G130, G150).
• p1982 — PolID selection; deactivates the technique at value 16 (S120, S150, G130, G150).
• p0323 — maximum motor current; per the G120 description it is set first, if required, before increasing p0329 at value 18.
• p1215 — motor holding brake configuration; set to 2 at value 2 to open the holding brake.
• p0408 — rotary encoder pulse number; check it at value 4.
• p0432 / p0433 — gearbox factors for encoder and motor/load revolutions; check them at value 4.
• p0314 — check it as the motor pole pair number at value 4.

Acknowledgement alone does not remove the cause: work through the remedy belonging to the fault value shown in r0949 first, then acknowledge the fault and restart — the drive does not release again until the fault is acknowledged. Where the remedy ends with replacing the Motor Module or power unit, parameter changes alone will not clear the fault. After fault value 20, the motor shaft must be at zero speed before the routine is repeated.