Corrected from:
i700 servo inverter V01.07.05.10577
Response of the new version:
Controller enable is now delayed for up to 2s inside the controller to wait until the Hiperface SinCos absolute-value encoder has read out the actual position.
The actually effective waiting time varies:
- The controller is enabled (changes to the "Operation enabled" state) no later than after the 2s-waiting time has elapsed.
- If reading out is already completed (0x2833 bit 5 = 1) earlier, the controller is enabled earlier.
If, contrary to expectations, reading out the actual position takes longer than the waiting time, the waiting time until controller enable can be applicatively extended.
If necessary, activate the monitoring function for the Hiperface absolute value encoder (0x2C41:4 = fault[1]) to avoid unintended movements.
What happens?
If the controller is enabled too early, the actual position may change abruptly.
The controller switches with an error message to the "Fault" state or the motor shaft may rotate.
When does the problem occur?
The problem occurs if the controller is enabled immediately after changing the encoder type (0x2C40) from SinCos encoder to Hiperface absolute value encoder and the actual position has not yet been fully read out and initialised. Reading out and initialisation takes approx. 1s.
Which products are affected?
i700 servo inverter
Short-term measures/recommendations:As an applicative solution, the waiting time until controller enable can be extended via the application program to wait until the actual position has been fully read out and initialised.
Under the Lenze status word 2 you can see if the absolute position has been fully read out (0x2833.Bit5 =1).
Evaluation:
If required, there is an applicative solution available.
