A32401 — Encoder 2: Alarm threshold zero mark failed

A32401 is the Encoder 2 zero mark alarm. The drive monitors how far Encoder 2 travels between zero marks: once more than 1.5 times the parameterized zero mark distance has passed without a zero mark being detected, the alarm threshold is exceeded and the drive raises A32401. The zero mark distance used for this monitoring is the one set in p0425 (rotary encoder) or p0424 (linear encoder). Depending on the drive's configuration, the same condition can also be issued as a fault (F) or with no reaction at all (N). How many increments have been counted since POWER ON or since the last detected zero mark is stored as the alarm value in r2124.

• The 1.5 x parameterized zero mark distance was exceeded without a zero mark being detected.
• The zero mark distance being monitored is the one set in p0425 (rotary encoder) or p0424 (linear encoder).

1. Check that the encoder cables are routed in compliance with EMC.
2. Check the plug connections.
3. Check the encoder type — the encoder must have equidistant zero marks.
4. Adapt the parameter for the clearance between zero marks (p0425).
5. Replace the encoder or the encoder cable.

• The alarm value can be read in r2124; interpret the value as a decimal number.
• It contains the number of increments after POWER ON or since the last zero mark that was detected.
• 4 increments correspond to 1 encoder pulse.

• p0425 (Encoder rotary zero mark distance): sets the zero mark distance monitored for Encoder 2 when a rotary encoder is connected; the remedy includes adapting this clearance between zero marks.
• p0424 (Encoder linear zero mark distance): sets the same monitoring distance when a linear encoder is connected.
• r2124 (Alarm value): read the counted increments here, interpreted as a decimal number, while the alarm is present.

As an alarm, A32401 triggers no automatic response from the drive and needs no acknowledgement — the drive keeps running. If the drive is configured to raise the same condition as a fault (F), the fault must be acknowledged IMMEDIATELY; by default the drive also takes no automatic action on the fault, and IASC/DCBRK, OFF1, OFF2, OFF3 or STOP2 can be set as the fault response depending on the drive object. When the condition is issued with no reaction (N), the drive takes no action and nothing has to be acknowledged.