F31129 — Encoder 1: Position difference hall sensor/track C/D and A/B too large

Fault F31129 is raised by Encoder 1 when the position difference between the hall sensor/track C/D signals and A/B becomes too large for the encoder monitoring. The scale the monitoring works on: one period of track C/D corresponds to 360 ° mechanical, and one period of the Hall signal corresponds to 360 ° electrical. Depending on the drive configuration, the same condition can also be output as an alarm or with no automatic reaction. Note that after fine synchronization — using one reference mark, or 2 reference marks for distance-coded encoders — the drive no longer initiates this fault but raises Alarm A31429 instead.

• The error for track C/D is greater than +/-15 ° mechanical or +/-60 ° electrical, or the error for the Hall signals is greater than +/-60 ° electrical.
• Hall sensors are connected as equivalent for the C/D tracks with the incorrect rotational sense.
• Supply values that are not accurate enough.

1. Check whether track C or D is not connected.
2. Correct the direction of rotation of the Hall sensor possibly connected as 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 stores the measured deviation as the fault value; read it in r0949, interpreted as a decimal number (16 bits with sign).
• For track C/D: the measured deviation as a mechanical angle, where 182 dec corresponds to 1 °.
• For Hall signals: the measured deviation as an electrical angle, where 182 dec corresponds to 1 °.

• r0949 — fault value: read the stored deviation for this message here, interpreted as a decimal number.
• p0491 — motor encoder fault response: the parameter the manual cross-references for this code; it sets how the drive responds to this encoder fault.

Rectify the cause first. This fault is acknowledged with the pulses inhibited: take the enable away so the drive drops its pulses, acknowledge the message, then restore the enable to restart. The automatic response of the drive to this encoder fault is set in p0491.