D300 Command adjust commutation

A correctly adjusted commutation offset is mandatory for the operation of synchronous motors. The "D3" message indicates that the command has been activated, that is used for determining the commutation offset.

Cause:

The commutation setting command has been activated.

Cause with linear motor:

There must not be a controller enable signal when the command is started. However, it must be in communication phase 4 ("bb" or "Ab" displayed).

Cause with rotary synchronous motor:

The drive must be in torque control mode when the "D3" command is started. This error message is generated if those conditions are not satisfied.

Remedial action with linear motor:

Depending on the motor type, switch off the controller enable signal and start the command again.

Remedial action with rotary synchronous motor:

Activate torque control and start the command again.

D302 Torque/Force too small to move

The command D3 Command adjust commutation has been started. To perform this, the motor must move.
But it doesn’t move.

Cause:

1. The torque is too small to overcome mechanical resistances (friction or weight).

2. The motor is blocked mechanically.

Remedy:

1. Increase the S-0-0092, Bipolar torque/force limit value bipolar so that the motor overcomes the mechanical resistances and can turn.

Check also

P-0-0109, Torque/Force peak limit; this parameter value should be at least as great as S-0-0092.

2. Clear the jamming. Check also the brake.

Note: For devices with analog inputs, the torque can be limited via an analog torque reduction.

D500 Command 'get mark position'

The P-0-0014, D500 Command determine marker position command can be used for checking the correct acquisition and position of the reference marker of an incremental measuring system. The "d5" display shows that the command has been activated.

Cause:

The Determine marker position command has been activated.

Cause:

The command has been started for a measuring system that does not possess real reference markers.
These include measuring systems such as DSF, EnDat, SSI or resolver measuring systems.

Remedy:

Check whether the correct encoder has been selected in S-0-0147,

Homing parameter.

Employ an encoder system with real reference markers.

D700 Parking axis command

The command permits one or more drives of a drive package to be stopped without error messages being
issued to the controller and/or the power supply module. The remaining drives of the package can be handled without any restrictions.

Cause:

The S-0-0139, D700 Command Parking axis command has been activated.

D900 Command automatic loop tuning

The start of this command means that an automatic control loop setting is executed in the drive if the drive is in the loop at command start, i.e., the drive enable signal is applied.

WARNING

-> The start of this command can trigger a movement if drive enable and drive start are at the drive.

-> The drive conducts autonomous movements within the range defined by both limits.

-> The E-stop sequence function and the travel range limit switch must be guaranteed and checked.

-> During command D9, the drive autonomously conducts motions, i.e., without external command value.

Note: Under some circumstances, errors can also occur while the command is being executed. These are then signalled with pertinent messages.

D906 position range exceeded

D901 Start requires drive enable

To ensure that the drive is in the loop when starting the command P-0-0162, D900 Command Automatic control loop adjust, such is queried at command start.

Cause:

Drive enable not set at command start (NO-RF)

Remedy:

Set drive enable and restart command.

D902 Motor feedback data not valid

At the start of the automatic control loop setting (P-0-0162), the motor parameters

· torque constant

· rated current of unit are read out of the feedback.

Cause:

One of the above feedback data has a value smaller than or equal to zero (<=0). This means that the controller parameter is incorrectly calculated.

Remedy:

If known, write the correct values back into the parameter or contact Indramat Customer Service to obtain the feedback data valid for your motor. In the worst case, it may be necessary to replace the motor.

D903 Inertia detection failed

At the start of the automatic control loop setting, the load moment of inertia is determined with an "oscillation attempt". This means that the speed change and the motor current must exceed a minimum value during acceleration or deceleration to guarantee a sensible and sufficiently precise calculation of the moment of inertia.

Cause:

· drive acceleration too low

· number of measured value too small for automatic control loop setting

· motor speed too low

· load moment of inertia too big

Remedy:

· increase bipolar torque/force value S-0-0092

· increase pos. accel S-0-0260

· increase pos. speed S-0-0259

· increase feedrate override S-0-0108

D904 Gain adjustment failed

In exceptional cases, difficulties in the automatic control loop setting may arise. This means that an automatic setting is not possible. Standard or default values must therefore be loaded into the drive.

Cause:

· oscillating mechanical systems (resonance)

· high level of interference in the encoder signal

Remedy:

Satisfactory results can sometimes be achieved by starting the command P-0-0162, D900 Command Automatic control loop adjust with a large P-0-0163, Damping factor for autom. control loop adjust, i.e., low dynamics. This value can be reduced until the control loop behaves as needed. If even then control loop settings remain unsuccessful, then the setting must be manual.

Note: A manual setting should only be necessary in exceptional cases!

D905 Position range invalid, P-0-0166 & P-0-0167

Before starting an automatic control loop setting, both travel range limits, i.e., upper and lower, must be defined.

When starting command P-0-0162, D900 Command Automatic control loop adjust the number values are
automatically checked for validity. It is checked if the traversing path is large enough and if sensible values have been entered.

Possible fault causes:

· P-0-0167, Upper position limit for autom. control loop adjust smaller than P-0-0166, Lower position limit for autom. control loop adjustMaximum traversing path (= upper - lower limits) is less than 6 motor rotations and thus too small to start the automatic control loop setting.

Remedy:

· clear command error by ending the command

· a) input new limits whereby:upper > lower limits

· b) redefine limits to define a larger traversing range

· restart command with sensible traversing range

D906 Position range exceeded

During automatic control loop setting, there is a constant monitoring of the valid traversing range P-0-0166 and P-0-0167.

Cause:

If only one of these limits is exceeded, then command error D906 is generated and the drive brought to standstill speed controlled.

Possible causes:

· actual position outside of defined traversing range

· limits redefined after command start

Remedy:

· clear command error and end command

· redefine limits so that the actual position is within defined traversing range

· retart command using sensible traversing range