F32100 — Encoder 2: Zero mark distance error

F32100 reports that encoder 2 is delivering a distance between two zero marks which differs from the zero mark distance stored in the parameterization. The distance the zero mark monitoring expects is set in p0425 for a rotary encoder and in p0424 for a linear encoder. For a distance-coded encoder the drive determines the zero mark distance from pairs of detected zero marks; depending on how these pairs are formed, a single missing zero mark can therefore remain undetected and have no effect on the system. The drive configuration decides whether the condition is issued as the fault F32100, as an alarm or with no reaction at all.

• The zero mark distance measured on encoder 2 does not correspond to the zero mark distance that has been parameterized.
• With a distance-coded encoder the drive builds the distance from pairs of detected zero marks, so depending on the pair formation a missing zero mark need not trigger the message and leaves the system unaffected.
• The distance held in p0425 (rotary encoder) or p0424 (linear encoder) does not match the encoder actually mounted.

1. Check that the encoder cables are routed in compliance with EMC.
2. Check the plug connections.
3. Check the encoder type — the drive expects an encoder with equidistant zero marks.
4. Adapt the parameterized distance between zero marks (p0424, p0425) so it matches the encoder.
5. If the message is only output above a speed threshold, reduce the filter time if necessary (p0438).
6. Replace the encoder or the encoder cable if the fault persists.

• The fault value in r0949, interpreted as a decimal number, contains the last measured zero mark distance in increments.
• 4 increments = 1 encoder pulse.
• The sign of the value indicates the direction of motion in which the zero mark distance was detected.

• p0424 — stores the zero mark distance expected from a linear encoder; correct it when the monitoring distance does not suit the connected distance-coded linear encoder.
• p0425 — the equivalent setting for a rotary encoder; adapt it if the drive keeps complaining although the encoder itself is sound.
• p0438 — square-wave encoder filter time; shorten it when the message appears only above a speed threshold.
• r0949 — read here, interpreted decimal, which zero mark distance encoder 2 last measured; the value accompanies this message.

Eliminate the cause first; after that the fault must be acknowledged — the pulse inhibit has to be acknowledged before the drive will run again. Where the same condition is configured as an alarm or as a message without any drive reaction, no acknowledgement is required.