Servo control
4.14 Pole position identification
Notes regarding pole position identification
The relevant procedure can be selected using parameter P1980. The following procedures
are available for pole position identification:
● Saturation-based 1st + 2nd harmonics (p1980 = 0)
● Saturation-based 1st harmonic (p1980 = 1)
● Saturation-based, two-stage (p1980 = 4)
● Motion-based (p1980 = 10)
● Elasticity-based (p1980 = 20)
The following supplementary conditions apply to the saturation-based motion procedure:
● This procedure can be used for both braked and non-braked motors.
● It can only be used for a speed setpoint = 0 or from standstill.
● The specified current magnitudes (p0325, p0329) must be sufficient to provide a
significant measuring result.
● For motors without iron, the pole position cannot be identified using the saturation-based
procedure.
● For 1FN3 motors, it is not permissible to traverse with the 2nd harmonic (p1980 = 0, 4).
● With 1FK7 motors, a two-stage procedure must not be used (p1980 = 4). The value in
p0329, which is set automatically, must not be reduced.
For the motion-based procedure, the following supplementary conditions apply:
● The motor must be free to move and it may not be subject to external forces (no
hanging/suspended axes).
● It can only be used for a speed setpoint = 0 or from standstill.
● If there is a motor brake, then this must be open (p1215 = 2).
● The specified current magnitude (p1993) must move the motor by a sufficient amount.
For the elasticity-based procedure, the following supplementary conditions apply:
● A brake must be available and must also be closed during the pole position identification.
Either the drive controls the brake (p1215 = 1 or 3) or the brake is externally closed well
in advance of the start of the pole position identification and is re-opened after the
operation has been completed.
● Parameters p3090 to p3096 must be correctly set for a successful pole position
identification.
● The specified current magnitude (p3096) must deflect the motor by a sufficient amount.
● The ratio between the sign of the deflection and the force/torque must be taken into
account in p3090.0.
150
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions