the stator resistance is saved to non volatile memory. If A03 (Parameter Cloning N01) is set to Auto (3) or Boot (4), the stator resistance is written to

an NV Media Card installed in the drive. If the test fails the mode is changed to Ur mode and the stator resistance is not updated.

4: Ur I (Resistance compensation, stator resistance measured at power-up). Resistance compensation is used as in Ur S mode, but the stator

resistance is only measured when the drive is enabled for the first time after each power-up.

RFC-S Action on enable

Parameter value

A23 (Action On Enable B09) can be used to get the drive to perform a phasing angle test when it is enabled. This test can be used when a non-

absolute encoder is used for motor control feedback in RFC-S mode. The phasing test will measure and update Position Feedback (C13) phase

angle, so that the correct offset is applied to run the motor with the non-absolute position feedback. The test can be selected to occur after power up

and each time the position feedback is re-initialized.

It is not necessary to perform the test on every enable, but this can be selected as shown in Table 6-6 below. If the motor has significant cogging

torque, and is not locked during the test, it is suggested that a long test is selected, otherwise a short test can be used. It should be noted that the

motor inductances (Transient Inductance B33 (Ld) and (No Load B37 (Lq) are checked before the test is carried out, and if the difference is not

sufficient then the drive will trip. Therefore, if the motor inductances have not been measured with an autotune or changed from their default value of

zero the drive will trip when the drive is enabled.

Table 6-6 Action on enable

Action on

enable

Disabled (0)

No phasing test is carried out on enable

Short (1)

A phasing test lasting approximately 0.4 s is carried out on every enable, the output motor contactors must be closed for this test

A phasing test lasting approximately 0.4 s is carried out when the drive is first enabled after power-up, and when the drive is

Short Once (2)

enabled after the position feedback selected is initialized, the output motor contactors must be closed for this test

Long (3)