F31500 — Encoder 1: Position tracking traversing range exceeded

F31500 reports that the position tracking of encoder 1 has exceeded the maximum possible traversing range: on an axis configured as a linear axis without modulo correction, the drive/encoder has moved beyond the largest range the position tracking can represent. How large this range is depends on the measuring gear configuration in p0411; the value in p0412 gives the traversing range, interpreted as a number of motor revolutions. Depending on how the drive is configured, the same condition can also be signalled as an alarm (A) or without any reaction (N) instead of as a fault.

• The axis is configured as a linear axis without modulo correction, and the drive/encoder has exceeded the maximum possible traversing range.
• With p0411.0 = 1, the traversing range of the configured linear axis is defined to be 64x (+/- 32x) of p0421; the drive has moved past this range.
• With p0411.3 = 1, the traversing range is preset (default value) to the highest possible value, which is +/-p0412/2 rounded off to complete revolutions; this highest possible value depends on the pulse number (p0408) and the fine resolution (p0419).

1. Read the traversing range in p0412; the value is interpreted as the number of motor revolutions.
2. Select encoder commissioning (p0010 = 4).
3. Reset the position tracking by setting p0411.2 = 1.
4. Deselect encoder commissioning (p0010 = 0).
5. Acknowledge the fault and then adjust the absolute encoder.

• p0010 — set to 4 to select encoder commissioning before resetting the position tracking, and back to 0 to deselect it afterwards.
• p0411 — measuring gear configuration for this code: bit 0 defines the traversing range as 64x (+/- 32x) of p0421, bit 2 = 1 resets the position tracking, bit 3 presets the range to the highest possible value (+/-p0412/2).
• p0412 — read here to see the traversing range, interpreted as the number of motor revolutions; with p0411.3 = 1 the range is +/-p0412/2.
• p0421 — absolute encoder rotary multiturn resolution; with p0411.0 = 1 it is the basis from which the 64x (+/- 32x) traversing range is derived.
• p0408 — rotary encoder pulse number; together with the fine resolution it determines the highest possible traversing range.
• p0419 — fine resolution (in bits); together with the pulse number (p0408) it determines the highest possible traversing range.

The fault is acknowledged once the position tracking has been reset and encoder commissioning has been deselected (p0010 = 0). After acknowledgment, the absolute encoder has to be adjusted. If the condition has been configured as an alarm (A) or without a reaction (N) instead of a fault, no acknowledgment is required.