A32400 — Encoder 2: Alarm threshold zero mark distance error

Encoder 2 signals that the zero mark distance measured at the encoder does not correspond to the zero mark distance parameterized in the drive — the alarm threshold of the zero mark monitoring has been exceeded. For distance-coded encoders the zero mark distance is determined from pairs of detected zero marks; depending on how these pairs are generated, a single missing zero mark does not necessarily result in a fault and then has no effect in the system. The zero mark distance used by the monitoring is set in p0425 (rotary encoder) or p0424 (linear encoder). Depending on the drive configuration, the same condition can also be issued as a fault (F) or as a message without a reaction (N).

• The zero mark distance measured at Encoder 2 does not correspond to the zero mark distance parameterized in the drive (p0424 for a linear encoder, p0425 for a rotary encoder).

1. Check that the encoder cables are routed in compliance with EMC.
2. Check the plug connections.
3. Check the encoder type (encoder with equidistant zero marks).
4. Adapt the parameterized distance between the zero marks (p0424, p0425).
5. Replace the encoder or the encoder cable.

• The message value is the alarm value, which the drive also stores in r2124.
• Interpret r2124 as a decimal number: it contains the last measured zero mark distance in increments, where 4 increments correspond to 1 encoder pulse.
• The sign of the value designates the direction of motion when the zero mark distance was detected.

• p0424 — Encoder linear zero mark distance: holds the parameterized zero mark distance for a linear encoder; adapt it here if the measured distance differs.
• p0425 — Encoder rotary zero mark distance: the same setting for a rotary encoder.
• r2124 — Alarm value: read the alarm value here as a decimal number to see the last measured zero mark distance in increments.

As an alarm, A32400 requires no acknowledgement; the drive does not react to the message itself, it only points to the mismatch between the measured and the parameterized zero mark distance. Only when the drive is configured to issue the same condition as a fault (F) is an immediate acknowledgement required.