A32429 — Encoder 2: Position difference hall sensor/track C/D and A/B too large

The message appears as Encoder 2: Position difference hall sensor/track C/D and A/B too large. It is raised when the monitoring of Encoder 2 measures an error for track C/D greater than +/-15 ° mechanical or +/-60 ° electrical, or an error for the Hall signals greater than +/-60 ° electrical. One period of track C/D corresponds to 360 ° mechanical and one period of the Hall signal to 360 ° electrical — these are the reference scales behind the tolerances. As an alarm, the drive carries out no automatic response of its own; depending on the drive configuration, the same condition can also be signalled as a fault or without a reaction.

• The error for track C/D exceeds +/-15 ° mechanical or +/-60 ° electrical, or the error for the Hall signals exceeds +/-60 ° electrical.
• Hall sensors are connected as an equivalent for track C/D with the incorrect rotational sense — a situation the manual names explicitly as a trigger for this monitoring.
• The supply values are not accurate enough.

1. Establish whether track C or D is not connected.
2. Correct the direction of rotation of a hall sensor that is possibly connected as an equivalent for track C/D.
3. Check that the encoder cables are routed in compliance with EMC.
4. Check the adjustment of the hall sensor.

The drive writes the measured deviation into the alarm value r2124, which is to be interpreted as a decimal number and is held in 16 bits with sign:

• For track C/D: the measured deviation as a mechanical angle, where 182 dec corresponds to 1 °.
• For the Hall signals: the measured deviation as an electrical angle, where 182 dec corresponds to 1 °.

• r2124 — holds the alarm value of this message; read it as a decimal to see the measured deviation, given in 16 bits with sign where 182 dec corresponds to 1 ° (mechanical angle for track C/D, electrical angle for the Hall signals).

As an alarm, the message requires no acknowledgement and clears itself once the difference is back within tolerance; the drive also carries out no automatic response of its own, so removing the cause is all that is needed. If the drive configuration raises the same condition as a fault instead, the fault must be acknowledged immediately before the drive will run again.