F31136 — Encoder 1: Error when determining multiturn information

F31136 is issued against Encoder 1 when the encoder reports that it could not determine its multiturn position. The encoder carries this information bit by bit in an internal status/fault word: some of these bits trigger the fault, the others are pure status displays. The drive stores the complete word as the fault value, so the exact sub-cause can be read from it. The two list manuals give the message slightly different titles — "Encoder 1: Error when determining multiturn information" and "Encoder 1: Fault when determining the position (multiturn)" — but describe the same behaviour.

• The encoder itself has identified a position determination fault for the multiturn information and signals it through the bits of its internal status/fault word — the set multiturn bits are what triggers F31136.

1. Read the fault value in r0949, interpreting it in binary, and note which bits are set.
2. Evaluate the multiturn bits 26 to 30 first: they name the concrete multiturn problem (position 1, position 2, system, power down, overflow/underflow).
3. Check whether further bits are set. Bits 0 and 1 (F1, F2) are only safety status displays; any other set bit points to a separate encoder fault that has its own code and page.
4. Replace the encoder if this evaluation shows that the encoder itself is defective.

The drive writes the encoder's status/fault word into the message value and into r0949; interpret it in binary. The manual decodes each bit of this word — where a bit carries two designations, the first applies to DRIVE-CLiQ encoders and the second to EnDat 2.2 encoders. The bits that concern this fault are the multiturn bits:

• Bit 26: Multiturn position 1
• Bit 27: Multiturn position 2
• Bit 28: Multiturn system
• Bit 29: Multiturn power down
• Bit 30: Multiturn overflow/underflow
• Bit 31: Multiturn battery (reserved)

Bits 0 and 1 (F1, F2) are safety status displays only. Every remaining bit of the word is either a reserved status display or points to a separate encoder fault; the manual names the code belonging to each of these bits, and those codes are described on their own pages.

• r0949 — fault value: read it in binary here to see which multiturn bit of Encoder 1's status/fault word is set.

Acknowledge the fault once the cause has been removed; the acknowledgement also releases the pulse inhibit again so the drive can be restarted. The manual adds a special case for EnDat 2.2 encoders: An EnDat 2.2 encoder may only be removed and inserted in the "Park" state. If the encoder was removed while not in the Park state, a POWER ON (switch-off/switch-on) after re-inserting the encoder is necessary to acknowledge the fault.