F31137 — Encoder 1: Fault when determining the position (single turn)

F31137 is raised when the DRIVE-CLiQ encoder 1 reports a fault while determining its position within a single revolution. The condition arises inside the encoder itself, and the encoder transmits its own bit-coded diagnosis to the drive. One manual titles the code a fault when determining the position (single turn), another an internal fault when determining the position — both describe the same event on encoder 1.

• A position determination fault has occurred in the DRIVE-CLiQ encoder; the encoder detects the condition itself and reports it to the drive.
• The concrete trigger is bit-coded in the fault value and depends on the encoder version — it ranges from sin/cos signal and LED monitoring, F1/F2 safety status display messages and temperature outside the limit values to power supply faults, multiturn, memory, absolute position, FPGA and internal hardware or software errors.

1. Read the fault value in r0949 and interpret it in binary.
2. Take the leading byte as the encoder version and the remaining bits as the fault cause, then decode the bits for that version using the list on this page.
3. If the encoder version is not described in the manual, ask the encoder manufacturer for details of the bit coding.
4. If required, replace the DRIVE-CLiQ encoder.

Read r0949 in binary in the form yyxxxxxx hex: yy identifies the encoder version, the bits that follow code the fault cause. The manuals document these versions:

• yy = 8 — printed for the G130/G150 as 08 hex with bit 27 = 1: bit 1, sin/cos signal monitoring; bits 8 and 9, F1/F2 safety status display errors; bit 16, LED monitoring; bit 17, multiturn fault; bit 23, temperature outside the limit values. One manual adds bit 18, Single-step capability monitoring singleturn from the Safety channel, and bit 19, an ECRC configuration error in the safety channel.
• yy = 11: reported per position word 1 and position word 2 — differences between rotation counter and software counter, track errors of the incremental signals, alignment errors between incremental signals and absolute value, temperature, power supply overvoltage, overcurrent and undervoltage, memory, absolute position and LED errors, F1/F2 safety status display errors, and the singleturn and rotation counter status bits.
• yy = 12: bit 8, encoder fault; bit 10, error in the internal position data transport.
• yy = 14: both position words carry their own bits; for this code, bit 5 (position word 1) and bit 21 (position word 2) point directly at the singleturn determination — bit 5 combines a timeout on the absolute value with the singleturn determination error. The remaining entries cover temperature, multiturn, FPGA, velocity, FPGA communication and internal hardware or software faults.

For an encoder version not described here, contact the encoder manufacturer about the bit coding.

• r0949 — the fault value; for F31137 read it in binary so that the encoder version and the bit-coded cause can be separated.

The fault is acknowledged only while pulses are inhibited; after acknowledgment the drive can be restarted.