F07996 — Drive: Pole position identification routine not carried out

F07996 tells you that the drive has entered an operating state in which a pole position identification for the connected encoder is mandatory — and that this routine has not been carried out. The manuals describe the fault for servo drive objects. Three situations produce it: a changeover made while in operation to a mode that needs the identification, a "flying" changeover from encoderless operation to operation with encoder without a prior identification, and an EDS changeover to an encoder whose pole position identification is still outstanding. It is therefore a commissioning-sequence fault: the fix is to run the identification routine once, or to perform the changeover differently, not to replace hardware.

• While in operation, the operating mode was changed over to one that requires a pole position identification — such a changeover is not possible in this state.
• The drive was changed over flying (while running) from encoderless operation to operation with encoder without a pole position identification having been carried out beforehand for the encoder. The drive sees this as: p1404 then lies at a value between zero and the maximum speed, and the pulses in the speed range above p1404 were enabled although the routine had not previously been run in operation with encoder.
• In operation, an EDS changeover was made to an encoder for which a pole position identification is necessary, but it has still not been carried out. The drive recognises the outstanding routine from p1982 = 1 or 2 and p1992.7 = 0.

1. For a flying changeover between operation with and without encoder with pole position identification after POWER ON or during commissioning (p0010 not equal to zero): enable the pulses once at zero speed. The pole position identification routine is then carried out, and its result is available for operation.
2. Carry out the EDS changeover with the pulses inhibited.
3. Alternatively, carry out a pole position identification using this data set before making the changeover.

• p1404 (Encoderless operation changeover speed): for the flying-changeover cause, the drive raises the fault when this changeover speed lies between zero and the maximum speed and the pulses above it were enabled without a prior identification.
• p1982 (PolID selection): after an EDS changeover, the drive still counts the identification as outstanding while p1982 reads 1 or 2 together with p1992.7 = 0.
• p0010 (Drive commissioning parameter filter): the zero-speed pulse-enable remedy applies after POWER ON or whenever commissioning is active, i.e. p0010 not equal to zero.

Once the cause has been removed, the fault is acknowledged immediately — a POWER ON cycle is not required. The drive coasts down with this fault and must be acknowledged before it will start again, with the pulses enabled under one of the conditions described above.