| Info: | Detail |
| Data type: | UINT |
Description:
Runtime error during parameter identification when PIDENT_FIT reaches 0.
Reaction:
The identification procedure is cancelled.
Cause/Remedy:
Detail:
0: No detailed information available.
1: Determined proportional-amplification kv out of range (0 < kv < TUNE_KV_MAX).
- Torque limiter active (choose TLIM_MODE = 0)
- Wrong commutation offset MOTOR_COMMUT_OFFSET (repeat phasing)
- Choose higher value for TUNE_I_MAX_PERCENT
- Transient processes for the identification of the frequency response function have not yet subsided (increase TUNE_DELAY_TIME)
- Too strong feedback due to automatic pre-configuration of speed and position controller during identification (decrease MOTOR_INERTIA)
- Adjust the position controller gain POS_CTRL_KV to a small value before starting the identification
- DC bus nominal voltage UDC_NOMINAL is not valid or too small (e.g: UDC_NOMINAL = 0)
2: The closed speed loop has an unsatisfactory behavior (weakly damped).
- Reduce speed controller gain SCTRL_KV
3: The closed position loop has an unsatisfactory behavior (weakly damped).
- Reduce position controller gain POS_CTRL_KV
4: Frequency response measurement could not be performed completely at constant speed.
- Choose higher value for maximum movement distance TUNE_S_MAX
5: Determined mass moment of inertia FFCTRL_INERTIA out of range (>0).
- Selected acceleration too large and/or speed too slow
- Choose higher value for maximum movement distance TUNE_S_MAX
6: Determined constant load torque due to gravity is above the rated torque of the motor MOTOR_TORQ_RATED.
- Select larger motor
7: A too high value for the acceleration was determined.
- Select another maximum movement distance TUNE_S_MAX
8: Determined jolt time AXLIM_T_JOLT not within the permissible range (0...0.4).
- PIDENT_S not suitable selected
- AXLIM_AX_XXX are selected too small
- Control loop not dynamic enough
- Feed-forward control is parameterized in such a way that oscillation isn't recognized in the lag error
13: The estimated value for the total mass moment of inertia is too small.
- Adapt PIDENT_SIGNAL_F_START and/or PIDENT_SIGNAL_F_STOP
- Check MOTOR_TORQ_CONST
14: The ratio of the determined resonance and anti-resonance frequency does not fit.
- Adapt PIDENT_SIGNAL_F_START and/or PIDENT_SIGNAL_F_STOP
- Check if mechanics is capable of oscillating
15: The identification does not provide meaningful values
- Adapt PIDENT_SIGNAL_F_START and/or PIDENT_SIGNAL_F_STOP
- Check MOTOR_TORQ_CONST
- Check if mechanics is capable of oscillating
17: The calculation of the maxwell friction parameters is not valid
- Adapt PARID_TUNE_S_MAX
- Set or adapt PARID_TUNE_A
Motor - Identify parameter set:
- Motor lines too long or unshielded
Apply shield
- Unsuitable power combination of servo and motor
- Overload error
Decrease PIDENT_CURR_MAX and assign manually
Motor - ISQ-Ripple:
- Excessive noise in set current signal
Choose suitable filtering (SCTRL_TI_FIL)
- PIDENT_SPEED too high
Set low speed
- Excessive fluctuation of actual speed
Adjust controller settings
Drive - Inverter characteristic curve:
- Motor lines too long or unshielded
Apply shield
- Unsuitable power combination of servo and motor
- Overload error
Decrease MOTOR_CURR_MAX and assign manually
Controller parameters (auto-tuning):
Siehe Detail.
Movement parameters - Identification jolt time:
Siehe Detail.
See Drive identification