text: <s>[INST] Self Sensing - Ultra5000 Hello, I have an Ultra5000 drive (2098-IPD-20) and I need it to drive a Moog AC servo motor. The Moog had a resolver so we put a quadrature encoder instead (A+, A-, B+,B-, I+,I-) and wanted to use the self sensing ability of the Ultra500 to automatically determine the commutation. No matter what I define in the drive I keep getting error 39. The motor STARTS rotating and after a couple of seconds it faults out putting error 39. I really don't know what's the problem....? The motor parameters are properly defined and I do see in the Ultraware the encoder counting when I rotate the shaft manually. Any ideas? Thanks,Dan [/INST] Anybody? Dan \\n </s>