F07433 — Drive: Closed-loop control with encoder is not possible as the encoder has not been

F07433 is raised when a changeover to closed-loop control with encoder is to be carried out but the connected encoder has not been unparked — it is still parked. While the encoder remains parked, the drive cannot use it for closed-loop control and rejects the changeover. The fault signals this rejected changeover rather than a drive trip, so no automatic stop is executed.

• The changeover to closed-loop control with encoder was commanded while the encoder had not yet been unparked.
• For long-stator motors (p3870.0 = 1): the encoder had not completed the unparking procedure (r3875.0 = 1) before the changeover was attempted.

1. Check whether the encoder firmware supports the "parking" function: r0481.6 must read 1.
2. If the encoder firmware does not support the parking function, upgrade the firmware.
3. For long-stator motors (p3870.0 = 1), make sure the encoder has completed the unparking procedure before changing over — r3875.0 must read 1. The encoder is unparked using binector input p3876 = 0/1 signal and remains until a 0 signal in this state.

• r0481 (CO: Encoder status word Gn_ZSW / Enc Gn_ZSW) — for this fault bit 6 is checked: r0481.6 = 1 means the encoder firmware supports the parking function.
• p3870 (Long stator configuration / Long stator config) — p3870.0 = 1 identifies the application as a long-stator motor, the case for which the unparking condition applies before the changeover.
• p3876 (BI: Unpark long stator signal source 1 encoder / s_s 1 enc unpark) — the binector input whose 0/1 signal unparks the encoder; the encoder remains unparked until a 0 signal is applied.

No special reset is described for this fault. Once the encoder is unparked — for long-stator motors, once r3875.0 reads 1 — and, where the parking function was not supported, the firmware has been upgraded, acknowledge the fault in the way shown for your drive object and repeat the changeover to closed-loop control with encoder.