F31916 — Encoder 1: Encoder parameterization error

F31916 is raised when the drive detects that a parameter of encoder 1 is incorrect; the message is reported for the Sensor Module Encoder 1. In practice this usually means the encoder type that is parameterized in the drive does not match the encoder physically connected. When encoder 1 runs on its own ENC drive object, the rotary/linear selection can additionally conflict with the setting of the "linear encoder" function module (r0108.12).

Depending on the drive configuration, the same condition can also be signalled as an alarm (A) or with no reaction (N) instead of a fault.

• An encoder 1 parameter has been detected as incorrect.
• The parameterized encoder type may not match the connected encoder.
• On the ENC drive object, the selected encoder type (rotary/linear) may not match the function module setting r0108.12.

1. Compare the encoder type selected in p0400/p0404 with the encoder actually connected — the two must match.
2. Read the parameter number from the fault value r0949 (interpret it as a decimal number) and the encoder data set from p0187, then correct the parameter these two values identify.
3. On the ENC drive object, check r0108.12 against the selection in p0400/p0404: if a linear encoder is selected there, the "linear encoder" function module must be activated (r0108.12 = 1); if a rotary encoder is selected, the "linear encoder" function module must not be activated (r0108.12 = 0).

• The message value carries the parameter (%1) and supplementary information (%2).
• r0949, interpreted as a decimal number: the number of the encoder 1 parameter that was found to be incorrect.

• r0949 — read as a decimal number, it names the encoder 1 parameter that has to be corrected for this fault.
• p0187 — gives the encoder 1 encoder data set (EDS) number to which the incorrect parameter belongs.
• p0400 / p0404 — encoder type selection and effective encoder configuration; check what is set here against the encoder physically connected.
• r0108 — bit 12 shows whether the "linear encoder" function module is active (r0108.12 = 1) or not (r0108.12 = 0); on the ENC drive object this must agree with the rotary/linear choice made in p0400/p0404.
• p0491 — motor encoder fault response ENCODER; referenced by the manual because it governs the configured response to this encoder fault.

Once the parameter named by r0949 and p0187 has been corrected, the fault is acknowledged immediately; the manuals describe no further reset or power-up steps for this code.