As of firmware version 2008R08-2 the Compax3 with the F12 option had its commutation algorithm updated regarding digital halls and RS422 encoder devices. Previous to this revision it would do the initial commutation via the digital halls and then transition to the RS422 encoder for sinusoidal commutation information only.
As of R08-2 this default method was changed to continuously check the commutation angle with the digital halls as well as the RS422 encoder information and will throw fault code 73A3h (29603d) and disable the drive immediately (no controlled decal) should these two differ.
This feature is most useful if the encoder device itself is not on the rear of the motor and/or has the potential to 'slip' relative to the rotor's poles. This allows the drive to detect a commutation issue regarding the sinusoidal commutation and generate a fault to avoid improper commutation symptoms.
However, in some systems where shielding is not adequate, electrical noise may create phantom faults. Appropriate shielding and grounding is the best way to prevent this from happening.
Object 2191.6 bits 0 controls this feature:
Bit 0 = 1 (default) continual commutation angle check of digital halls and RS422 encoders. = 0 disable continual digital hall commutation comparison
Also added as options via bits 1 and 2:
Bit 1 = 1 continual commutation angle check of digital halls and sine/cosine encoders. = 0 (default) disable continual digital hall commutation comparison
Bit 2 = 1 use only coarse digital hall commutation (no fine hall commutation). = 0 (default) use fine hall commutation
glh Nov 2016