F31905 — Encoder 1: Encoder parameterization error

F31905 reports that the drive has identified an error in the parameterization of encoder 1. In most cases the encoder type set in the drive does not match the encoder that is actually connected. The fault value in r0949, interpreted as a decimal number, names the parameter concerned and carries supplementary information that narrows down the rejected setting. The drive object concerned is the Sensor Module Encoder 1. Depending on how the drive is configured, the same condition can also be issued as an alarm (A) or without any reaction (N).

• The drive has identified an error in the encoder parameterization of encoder 1 — it is possible that the parameterized encoder type does not match the connected encoder.
• A code number for an identified encoder has been entered in p0400, but no encoder identification was carried out (supplementary information 2 or 3).
• Which specific setting the drive rejects is told by the supplementary information in the fault value — see the decoding below.

1. Check whether the connected encoder type matches the encoder that has been parameterized.
2. Determine the affected parameter number from the fault value (r0949) and the parameter index from p0187.
3. Correct the parameter so identified.
4. If the parameter number is 314: check the pole pair number and the measuring gear ratio — the quotient of pole pair number divided by measuring gear ratio must be less than or equal to 1000, i.e. (r0313 * p0433) / p0432 <= 1000.

The drive puts two pieces of information into the message value: the parameter (%1) and supplementary information (%2). Interpret the fault value in r0949 as a decimal number of the form yyyyxxxx: the lower four digits (xxxx) give the parameter number, the upper digits (yyyy) give the supplementary information.

• xxxx = 421: for an EnDat/SSI encoder, the absolute position in the protocol must be less than or equal to 30 bits.
• yyyy = 0: no additional information available.
• yyyy = 1: the component does not support HTL level (p0405.1 = 0) combined with track monitoring A/B <> -A/B (p0405.2 = 1).
• yyyy = 2: a code number for an identified encoder has been entered into p0400, however no identification was carried out — start a new encoder identification.
• yyyy = 3: a code number for an identified encoder has been entered into p0400, however no identification was carried out — select a listed encoder in p0400 with a code number < 10000.
• yyyy = 4: the component does not support SSI encoders (p0404.9 = 1) without track A/B.
• yyyy = 5: for an SQW encoder, the value in p4686 is greater than in p0425.
• yyyy = 6: the DRIVE-CLiQ encoder cannot be used with this firmware version.
• yyyy = 7: for an SQW encoder, the XIST1 correction (p0437.2) is only permitted for equidistant zero marks.
• yyyy = 8: the motor pole pair width is not supported by the linear scale being used.
• yyyy = 9: the length of the position in the EnDat protocol may be a maximum of 32 bits.
• yyyy = 10: the connected encoder is not supported.
• yyyy = 11: the hardware does not support track monitoring.

• r0949 — fault value: read it interpreted as decimal; the low four digits give the number of the parameter to correct, the leading digits the supplementary information for this fault.
• p0187 — encoder 1 encoder data set number: supplies the index of the parameter named by the fault value.
• p0400 — encoder type selection: check here that the set encoder type matches the connected encoder; a listed encoder carries a code number less than 10000.
• p0404 — encoder configuration effective: bit 9 shows whether an SSI encoder without track A/B is configured, which not every component supports.
• p0405 — square-wave encoder track A/B: bit 1 selects HTL level and bit 2 the track monitoring A/B <> -A/B, a combination that can be unsupported.
• p4686 — zero mark minimum length: for an SQW encoder its value must not be greater than that of p0425.
• p0425 — encoder rotary zero mark distance: comparison value for p4686 on SQW encoders.
• p0437 — Sensor Module configuration extended: bit 2 is the XIST1 correction, only permitted for equidistant zero marks on SQW encoders.
• p0491 — motor encoder fault response ENCODER: the manual cross-references this parameter for this code.
• r0313 — motor pole pair number, actual (or calculated): enters the quotient that is checked when parameter 314 is affected.
• p0433 — gearbox factor motor/load revolutions: numerator factor of that quotient.
• p0432 — gearbox factor encoder revolutions: denominator of that quotient.

After the parameterization has been corrected, the fault must be acknowledged immediately — no special reset sequence is described. In configurations where the same condition is only issued as an alarm (A) or with no reaction (N), no acknowledgement is provided for those variants either.