231-C4D0

Access Machine Parameters

Press MOD key, enter service password, select 'Machine Parameters'. Navigate to CfgMotorPara section and locate the affected axis number from the alarm message (%1 indicates axis identifier).

The alarm message %1 will show the specific axis designation (X, Y, Z, etc.) - note this before entering parameters.

Locate Torque Constant Parameter

Find parameter for torque constant (typically labeled as 'motorTorqueConstant' or 'Kt'). Check if value exists and is non-zero. Heidenhain motors typically have Kt values between 0.5 and 3.0 Nm/A depending on motor size.

Never enter estimated values - always use exact nameplate or manufacturer documentation data.

Verify Motor Nameplate Data

Physically inspect the motor nameplate on the affected axis. Record exact model number and all electrical specifications. Cross-reference with Heidenhain motor documentation or LC display specification sheets to obtain correct Kt value.

For LC motors (integrated measuring systems), the motor data is often stored in the EnDat memory - use drive diagnostics to read stored motor parameters directly.

Enter Correct Torque Constant

Input the verified Kt value into the motor parameter field. Ensure units match (typically Nm/A for Heidenhain systems). Save parameters and perform a complete control reboot (power cycle) to reinitialize drive system.

After parameter changes, a COLD start is required - use MOD > Control Configuration > Restart Control for proper initialization.

Verify Recent Motor Service

Confirm if motor replacement or service occurred on the affected axis. Check maintenance logs and visually inspect motor for recent installation indicators (clean mounting, new cable routing).

Even if 'same model' motor was installed, individual motors can have tolerance variations - always update parameters from the specific motor's documentation.

Access Complete Motor Parameter Set

In MOD > Machine Parameters > CfgMotorPara for the affected axis, review ALL motor parameters including: pole pairs, rated current, rated voltage, Kt, Ke (voltage constant), thermal time constant, and rotor inertia.

Motor parameters are interdependent - changing only Kt while leaving other parameters from different motor will cause additional errors.

Enter Complete New Motor Dataset

Using documentation for the newly installed motor, enter all motor parameters as a complete set. Pay special attention to consistency between Kt and Ke values which are mathematically related.

For Heidenhain LC motors with EnDat, you can often auto-configure by enabling motor ID detection in drive parameters - the control reads motor data directly from the encoder memory.

Perform Drive Commissioning Procedure

After parameter update, run the axis commissioning functions: MOD > Test > Axis Test. Execute phase check and motor identification if available on your control generation to verify correct parameter acceptance.

Ensure axis is mechanically free to move during commissioning tests - disable coupling if testing individual motor.

Check Parameter File Integrity

In MOD > System Files, navigate to TNC:\system\machine and check timestamp/size of machine.cfg or MP configuration files. Look for unusually small file sizes or recent modification dates coinciding with power events.

Access PLC > Diagnostic > System Messages to check for file system errors or parameter load warnings during previous startup sequences.

Restore from Parameter Backup

Navigate to MOD > Machine Parameters > Load Parameters. Select most recent known-good backup file (typically stored in TNC:\system\backup or on external media). Load complete parameter set and reboot control.

Loading parameters will overwrite ALL current machine parameters - ensure you have documented any intentional parameter changes made since the backup date.