What it means
A32421 is an alarm from Encoder 2. The manuals print two titles for it: on G130 and G150 as Encoder 2: Coarse position error
, on S120 and S150 as Encoder 2: Determined commutation position incorrect (alarm)
. Both describe the same event: the drive detected an error in the actual value sensing of Encoder 2 and must therefore assume that this sensing supplies an incorrect coarse position. Depending on the drive's configuration, the same condition can also be output as a fault (F) or with no reaction (N) instead of this alarm.
Why it appears
- An error was detected in the commutation position actual value sensing of Encoder 2.
- As a result of this error, it must be assumed that the actual value sensing supplies an incorrect coarse position.
What to check
- Read the alarm value in r2124 (interpret it as a decimal number); the remedy below applies to alarm value 3, the only value the manuals describe for this code.
- For a standard encoder with cable, contact the manufacturer where relevant.
- Correct the assignment of the tracks to the position value that is serially transferred: the two tracks must be connected, inverted, at the Sensor Module (interchange A with A* and B with B*).
- For a programmable encoder, check the zero offset of the position instead.
Reading the message value
- The drive stores the alarm value in r2124; interpret it as a decimal number. Only alarm value 3 is described for this code.
- Alarm value 3: the absolute position of the serial protocol and track A/B differ by half an encoder pulse.
- The absolute position must have its zero position in the quadrants in which both tracks are negative.
- In the case of a fault, the position can be incorrect by one encoder pulse.
Parameters the manual names
- r2124 — alarm value: read it as a decimal number to identify the Encoder 2 sensing error; for this alarm, value 3 means that the absolute position of the serial protocol and track A/B differ by half an encoder pulse.
Acknowledging and restarting
As an alarm, A32421 requires no acknowledgement and does not cause the drive to change its operating state. If the drive's configuration outputs the same condition as a fault (F) instead, that fault must be acknowledged IMMEDIATELY.
The same on every family
Every manual that describes A32421 gives it the same reaction, acknowledgement and message class.
| Drive family | Reaction | Acknowledge | Message class | Component | Manual |
|---|---|---|---|---|---|
| S120, S150 | NONE | NONE | Actual position/speed value incorrect or not available (11) | Encoder 2 | SINAMICS S120, S150 List Manual · p. 3107 |
| G130, G150 | NONE | NONE | Actual position/speed value incorrect or not available (11) | Encoder 2 | SINAMICS G130, G150 List Manual · p. 1785 |
The drives this code lives on
A32421 is described for G130, G150, S120, S150. These are the converters of those families in our catalogue — price on request.
Questions technicians ask
What does SINAMICS alarm A32421 mean?
Encoder 2 has detected an actual value sensing error, so the drive assumes that the sensing supplies an incorrect coarse or commutation position. The G130/G150 manual titles it "Encoder 2: Coarse position error", the S120/S150 manual "Encoder 2: Determined commutation position incorrect (alarm)".
What does alarm value 3 in r2124 mean for A32421?
It means that the absolute position of the serial protocol and track A/B differ by half an encoder pulse. The absolute position must have its zero position in the quadrants in which both tracks are negative, and in the case of a fault the position can be incorrect by one encoder pulse.
How do I fix alarm A32421?
For alarm value 3, contact the encoder manufacturer if a standard encoder with cable is involved. Otherwise correct the assignment of the tracks to the serially transferred position value: connect the two tracks inverted at the Sensor Module (interchange A with A* and B with B*), or, on a programmable encoder, check the zero offset of the position.
Does A32421 stop the drive or need an acknowledgement?
No. As an alarm it triggers no drive reaction and requires no acknowledgement; if the drive is configured to raise the same condition as a fault instead, that fault must be acknowledged IMMEDIATELY.
Codes next to this one
Source
Written from Siemens' own List Manuals and operating instructions; every number, designation and parameter on this page is checked against them before publication.
All SINAMICS codes: fault and alarm codes · the A32xxx group · SINAMICS manuals · Siemens manuals