i950 without SD card and absolute encoder with position reconstruction: After device replacement, re-referencing of the machine is mandatory (fixed from V01.11.00)
Lifted from:
Servo-Inverter i950 FW: from V01.11.00
Behavior of the new version: Disabling the position reconstruction function via parameter 0x2DE0:28 now works completely, even without an SD card or without a valid parameter set on the SD card.
Description of behavior: After replacing the inverter will be owithout further measures via the position reconstruction running within the base firmware calculates an incorrect actual position. This applies even if the referencing status incorrectly signals "Reference known" after switching back on.
The machine must always be referenced again to ensure that the actual position has the correct reference to the machine under all circumstances.
Background: For the position reconstruction, certain position values must be saved in the non-volatile memory of the device (retain memory) in the inverter. After the device has been replaced the retain data stored in the old device is no longer available. Dthe position reconstruction therefore inevitably calculates a deviating actual position using the retain data from the new device . See also FAQ: (202400433) (post currently still being created)
Under what conditions does the behavior occur?
Replacing the inverter and
use of an absolute encoder and
the position reconstruction function is activated (default) and
i950 without SD card or i950 with SD card without a valid parameter set on it.
Possibility a): After replacing the device, execute the device command 0x2822 = 40 (motor encoder) or 0x2822 = 41 (load encoder) once. This deletes the associated stored retain data and only the encoder value read out is used to reconstruct the position. The device command can be executed manually or automatically via the controller, e.g. after detecting the device replacement based on a changed serial number of the inverter.
Possibility b): Disable position reconstruction via parameter 0x2DE0:28 bit00 ffor motor encoders and 0x2DE0:28 bit01 for load sensors:
So far only works with i950 devices with SD card and valid parameter set.
For devices i950 without SD card and i950 with SD card without valid parameter set, the position reconstruction with this parameterization not deactivated.
Reference drive: If it is ensured that the display range of the absolute encoder is not left in the application, then a procedure according to a) is sufficient to be able to replace the device without a new reference run.
