F31130 — Encoder 1: Zero mark and position error from the coarse synchronization

F31130 is raised for Encoder 1 when, after the pole position has been initialized — via track C/D, via Hall signals or by the pole position identification routine — the zero mark is detected outside its permissible range. Because the check fails, fine synchronization is not carried out. Which tolerance applies depends on how the pole position was initialized (see causes). For distance-coded encoders the test is only carried out after passing 2 zero marks. Depending on the drive configuration, the same condition can also be issued as an alarm (A) or with no reaction (N).

• The zero mark was detected outside the permissible range after pole position initialization via track C/D, via Hall signals or via the pole position identification routine.
• With initialization via track C/D (p0404) the zero mark must occur in an angular range of +/-18 ° mechanical; with initialization via Hall sensors (p0404) or pole position identification (p1982) it must occur within +/-60 ° electrical.
• For distance-coded encoders the test is only carried out after passing 2 zero marks.

1. Check p0431 (angular commutation offset) and correct it if necessary; if required, re-trigger the determination with p1990 = 1.
2. Check that the encoder cables are routed in compliance with EMC.
3. Check the plug connections.
4. If the Hall sensor is used as an equivalent for track C/D, check this connection.
5. Check the connection of track C or D.
6. Replace the encoder or encoder cable.

• The drive stores the fault value in r0949; interpret it as hexadecimal yyyyxxxx hex.
• yyyy — the determined mechanical zero mark position (can only be used for track C/D).
• xxxx — the deviation of the zero mark from the expected position as electrical angle; scaling: 32768 dec = 180 °.
• In the message text the drive outputs the angular deviation, electrical as %1 and the angle, mechanical as %2.

• p0431 (Angular commutation offset) — the value to check and, if necessary, correct for this fault.
• p1990 (Encoder adjustment: determine angular commutation offset) — set to 1 to re-trigger the determination after correcting p0431.
• p0404 (Encoder configuration effective) — shows which initialization is active (track C/D or Hall sensors) and therefore which zero mark window applies.
• p1982 (PolID selection) — selects the pole position identification whose +/-60 ° electrical window applies when it initializes the pole position.
• p0491 (Motor encoder fault response ENCODER) — the manual cross-references it for this message; it sets how the drive responds to a motor encoder fault.
• r0949 (Fault value) — holds the yyyyxxxx hex value of this fault; decode it as described above.

Acknowledge the fault once its cause has been removed; acknowledgment is only possible with the power pulses inhibited, after which the drive can be restarted. Where the same condition is configured as an alarm (A) or with no reaction (N), no acknowledgment is required.