User manual

Feature Configuration

ANCA Motion DS619-0-00-0019 - Rev 0 109

Figure 10-9 ThetaFb moves in opposite direction to ThetaCmd. Likely cause: incorrect motor phase

sequence or inverted encoder feedback.

Step3. If the DQ Alignment fails due to Error 405 (DQ Alignment Current Control Error), check following

logged data:

 idCmd_1.dat and

 idFb_1.dat

Otherwise go to Step 4.

Note that

 idCmd_1.dat in [mA] is the d-axis current command (IDN 33069), and

 idFb_1.dat in [mA] is the d-axis current feedback

Figure 4 below shows a plot of idCmd_1.dat and idFb_1.dat logged during a successful DQA FOI. It is

seen that idFb_1.dat follows idCmd_1.dat. When the drive triggers E405, idFb_1.dat does not follow

idCmd_1.dat. In this case, check the following:

 DC bus powered.

 Safe Torque OFF (STO) connector wired correctly.

 Current loop properly tuned.

It is also recommended that IDN 33017 be logged together with idCmd_1.dat and idFb_1.dat. If IDN

33017 [2-14 %VDCB] is a value above 90% but idFB_1.dat is close to zero, then either the DC bus is

powered or the STO connector is not wired correctly.