Code 207996: <location>Drive: Pole position identification routine not carried out

Message value: Drive object: SERVO Reaction: ENCODER (OFF2) Acknowledge: IMMEDIATELY Cause: In operation, the operating mode that requires a pole position identificati on was changed over, which is not possible in this state: - the drive was changed over, flying, from encoderle ss operation to operation with encoder without having previously ca rried out a pole position identification fo r the encoder. p1404 is then at a value between zero and the max. speed and the pulses in the speed range above p1404 were enabled without a pole position ident. routine having been prev iously carried out in operation with encoder. - in operation, an EDS changeover was made to an encoder where it is necessary to carry out a pole position identification. However, this has still not been carried out (p1982 = 1 or 2 and p1992.7 = 0). Remedy: - for a flying changeover between operation with and wi thout encoder with pole position identification after POWER ON or commissioning (p0010 not equal to zero) enable the pulses once at zero speed. This means that the pole position identification routi ne is carried out and the result is available for operation. - carry out the EDS changeover with the pulses inhi bited, or, before the changeover, carry out a pole position identification using this data set.