F31135 — Encoder 1: Fault when determining the position

F31135 (manual title: "Encoder 1: Fault when determining the position (single turn)") is raised when Encoder 1 signals that it could not determine its position within one revolution. The encoder delivers its diagnosis as an internal status/fault word, bit by bit: the drive shows this word as the fault value in r0949, which you interpret in binary. The manual prints each bit with a first designation valid for DRIVE-CLiQ encoders and a second for EnDat 2.2 encoders. The decoding below lists the safety status displays and the bits the manual assigns to this singleturn code; if the set bit belongs to another group of the word (encoder supply, internal communication, temperature or multiturn), the manual decodes it with the corresponding other code.

• Encoder 1 has identified a fault while determining its singleturn position.
• The encoder reports its diagnosis bit by bit in an internal status/fault word. Some bits of this word trigger the fault, the others only display status: the manual marks F1, F2 and singleturn position 2 as safety status displays, while the singleturn group — lighting, signal amplitude, singleturn position 1, overvoltage, undervoltage, overcurrent, singleturn system, singleturn power down — is the group associated with this code.

1. Read the fault value in r0949 and interpret it as a binary number — this is the encoder's status/fault word.
2. Identify which bit(s) are set and use the decoding below to determine the detailed cause of the fault.
3. Replace the encoder if necessary.

• Bit 0: F1 (safety status display)
• Bit 1: F2 (safety status display)
• Bit 16: Lighting
• Bit 17: Signal amplitude
• Bit 18: Singleturn position 1
• Bit 19: Overvoltage
• Bit 20: Undervoltage
• Bit 21: Overcurrent
• Bit 23: Singleturn position 2 (safety status display)
• Bit 24: Singleturn system
• Bit 25: Singleturn power down

• r0949 — fault value: read it in binary here to obtain the encoder status/fault word and see which singleturn condition triggered the fault.

Acknowledge the fault to clear it before the drive runs again. An EnDat 2.2 encoder may only be removed and inserted in the "Park" state: if such an encoder was withdrawn outside the "Park" state, the fault only acknowledges after the encoder has been re-inserted and the drive has been switched off and on again (POWER ON).