A32410 — Encoder 2: Communication error (encoder and Sensor Module)

Encoder 2 (the second encoder) is not exchanging data correctly with its evaluation module: the drive has detected a transfer error in the serial communication protocol between the two. The manuals print the message as Encoder 2: Serial communications and Encoder 2: Communication error (encoder and Sensor Module). Depending on the drive's configuration, the same condition can also be output as a fault (F32410) or with no reaction (N). The drive places the cause as a binary alarm value in r2124, and each set bit identifies the specific protocol error — the decoding is listed below.

• A transfer error in the serial communication protocol between the encoder and its evaluation module. The alarm value shows the concrete case — for example an alarm bit in the position protocol, a missing start bit, a CRC checksum that does not match the data, an encoder acknowledgment error, a timeout during cyclic reading, an overlong protocol, a receive buffer overflow, a frame or parity error, or an incorrect signal level on the data line.

1. Check that the encoder cables are routed in compliance with EMC.
2. Check the plug connections.
3. Replace the encoder.

• Bit 0: Alarm bit in the position protocol.
• Bit 1: Incorrect quiescent level on the data line.
• Bit 2: Encoder does not respond (does not supply a start bit within 50 ms).
• Bit 3: CRC error: The checksum in the protocol from the encoder does not match the data.
• Bit 4: Encoder acknowledgment error: The encoder incorrectly understood the task (request) or cannot execute it.
• Bit 5: Internal error in the serial driver: An illegal mode command was requested.
• Bit 6: Timeout when cyclically reading.
• Bit 8: Protocol is too long (e.g. > 64 bits).
• Bit 9: Receive buffer overflow.
• Bit 10: Frame error when reading twice.
• Bit 11: Parity error.
• Bit 12: Data line signal level error during the monoflop time.

• r2124 — alarm value: read this value in binary for A32410 to see which of the listed protocol errors the drive has detected on Encoder 2.

As an alarm, A32410 needs no acknowledgment and the drive takes no automatic response to it; the message clears itself once the serial communication with Encoder 2 is error-free again. If the drive is configured to output the same condition as a fault (F32410), that fault must be acknowledged immediately after the cause has been remedied.